Program executionIf NoWait is not declared, the program will pause until the gripper holds the objectsuccessfully. Otherwise, an error is raised. If NoWait is declared, the call to thisinstruction will be ended and the program will directly go the next statement.If no detection is required, both targetPos and posAllowance can be omitted.The gripping is supposed to last less than 5 minutes in normal operations. To avoidoverheat of the gripper and other impacts caused by a long time of continuousgripping, the gripping force will be released automatically after an uninterruptedgripping for 30 minutes.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 is not in an expected state, an error is raised and the system variableERRNO will be set to ERR_HAND_WRONGSTATE. The error can be handled in the errorhandler.If targetPos is set but the object is not hold within the expected range, an erroris raised and the system variable ERRNO will be set to ERR_HAND_FAILEDGRIPPOS.The error can be handled in the error handler.If targetPos is set to a larger value than the current position, the gripper cannotgrip with an inward force. Then, an error is raised and the system variable ERRNOwill be set to FAILEDGRIPINWARD. The error can be handled in the error handler.Syntaxg_GripIn['\' holdForce ':='] IN) of num> ','['\' targetPos ':='] IN) of num> ','['\' posAllowance ':='] IN) of num> ','['\' NoWait ] ';'Product manual - IRB 14000 gripper 1233HAC054949-001 Revision: H© Copyright 2015-2018 ABB. All rights reserved.5 RAPID references5.2.1.5 g_GripIn - Jog the gripper to grip inwardContinued
