Error handlingIf the gripper is not calibrated, an error is raised and the system variable ERRNOwill be set to ERR_HAND_NOTCALIBRATED. The error can be handled in the errorhandler.If the gripper does not reach the specified target position within the given time 5seconds, or the movement is mechanically blocked before reaching the targetposition, an error is raised and the system variable ERRNO will be set toERR_HAND_FAILEDMOVEPOS. The error can be handled in the error handler. IfNoWait is set, ERR_HAND_FAILEDMOVEPOS will not be raised.If the robot loses the communication with the gripper, the error ERR_NORUNUNITwill be raised.Syntaxg_MoveTo[targetPos ':='] IN) of num> ','['\' NoWait ] ';'120 Product manual - IRB 14000 gripper3HAC054949-001 Revision: H© Copyright 2015-2018 ABB. All rights reserved.5 RAPID references5.2.1.4 g_MoveTo - Move the gripper to a target positionContinued
