HAND.TIME system parameter HAND.TIME system parameter Syntax ... HAND.TIME Function Establish the duration of the motion delay that occurs during OPENI, CLOSEI, and RELAXI instructions. Usage Considerations The current value of the HAND.TIME parameter can be determined with the PARAMETER monitor command or real-valued function. The value of the HAND.TIME parameter can be modified only with the PARAMETER monitor command or program instruction. The parameter name can be abbreviated. If the eV+ system is controlling more than one robot, the HAND.TIME parameter controls the hand operation times for all the robots.
Details The OPENI, CLOSEI, and RELAXI instructions are used to operate the hand after the robot has stopped moving. The HAND.TIME parameter determines the time allotted to the hand actuation before the next robot motion can be initiated. The value for this parameter is interpreted as the number of seconds to delay. It can range from 0 to 10 18 . Because of the way eV+ generates time delays, the HAND.TIME parameter is internally rounded to the nearest multiple of 0.016 seconds. This parameter is set to 0.05 seconds when the eV+ system is initialized. Example Set the hand operation delay time to 0.5 seconds:
PARAMETER HAND.TIME = 0.5 Related Keywords CLOSEI program instruction OPENI program instruction RELAXI program instruction PARAMETER monitor command eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 275