OnRobot Gecko Gripper - Page 107

Additional Software Options
107
Parameter name
Bytes
Type
Comments
Start bit
HEX Device connected
2
UINT 16
0: Disconnected
64: HEX is connected
1
HEX Status
4
UINT 32
0: No error
17
HEX Filter
2
UINT 16
See below
49
HEX Fx
2
INT 16
1/10 N
65
HEX Fy
2
INT 16
1/10 N
81
HEX Fz
2
INT 16
1/10 N
97
HEX Tx
2
INT 16
1/100 Nm
113
HEX Ty
2
INT 16
1/100 Nm
129
HEX Tz
2
INT 16
1/100 Nm
145
Reserved
4
161
Prim.
RG Device connected
2
UINT 16
0: Disconnected
32: RG2 is connected
33: RG6 is connected
193
Prim.
RG Actual Depth
2
INT 16
1/10 mm
209
Prim.
RG Actual Relative Depth
2
INT 16
1/10 mm
225
Prim.
RG Actual Width
2
INT 16
1/10 mm (with fingertip offset)
241
Prim.
RG Status
2
UINT 16
0b______1: 1 when in motion, 0
when not. The gripper will only
accept new commands when 0.
0b_____1_: Internal- or external
grip is detected.
0b____1__: Safety switch 1 is
pushed.
0b___1___: Safety circuit 1 is
activated. The gripper will not
move while this flag is high; can
only be reset by power cycling the
gripper.
0b__1____: Safety switch 2 is
pushed.
0b_1_____: Safety circuit 2 is
activated. The gripper will not
move while this flag is high; can
only be reset by power cycling the
gripper.
0b1______: General safety error.
Possible cause: the gripper is
booted with some safety switch
pressed or hardware error.
257
Reserved
6
273