OPEN program instruction OPEN program instruction Syntax OPEN OPENI Function Open the robot gripper. Usage Considerations OPEN causes the hand to open during the next robot motion. OPENI causes a BREAK in the current continuous-path motion and causes the hand to open immediately after the current motion completes. The OPEN instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task. The instruction applies to the robot selected by the task. The OPENI instruction can be executed by any program task as long as the task has attached a robot. The instruction applies to the robot selected by the task.
If the eV+ system is not configured to control a robot, executing these instructions causes an error. Details These instructions cause the control valves for the pneumatic hand to receive a signal to open. If the OPEN instruction is used, the signal is sent when the next robot motion begins. NOTE: You can use the Robot Configuration Utility program to set the digital signals that control the pneumatic hand. The utility program is on the Utility Disk. See the manual Instructions for Adept Utility Programs for information on use of the program. The OPENI instruction differs from OPEN in the following ways: l A BREAK occurs if a continuous-path robot motion is in progress.
l The signal is sent to the control valves at the conclusion of the current motion or immediately if no motion is in progress. l Robot motions are delayed for a brief time to allow the hand actuation to complete. The length of the delay (in seconds) is the current setting of the HAND.TIME system parameter. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 374