CLOSE and CLOSEI program instruction CLOSE and CLOSEI program instruction Syntax CLOSE CLOSEI Function Close the robot gripper. Usage Considerations CLOSE causes the hand to close during the next robot motion. CLOSEI causes a BREAK in the current continuous-path motion and causes the hand to close immediately after the current motion completes. The CLOSE 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 CLOSEI 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 send a signal to the control valves for the pneumatic hand to close. If the CLOSE instruction is used, the signal is not sent until the next robot motion begins. The CLOSEI instruction differs from CLOSE 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. Examples During the next robot motion, cause the pneumatic control valves to assume the closed state: eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 125