OnRobot Gecko Gripper - Page 118

Additional Software Options
118
Parameter name
Bytes
Type
Comments
Start bit
Prim.
RG Device connected
2
UINT 16
0: Disconnected
32: RG2 is connected
33: RG6 is connected
1
Prim.
RG Actual Depth
2
INT 16
1/10 mm
17
Prim.
RG Actual Relative Depth
2
INT 16
1/10 mm
33
Prim.
RG Actual Width
2
INT 16
1/10 mm (with fingertip offset)
49
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.
65
Reserved
6
81
Sec.
RG Device connected
2
UINT 16
0: Disconnected
32: RG2 is connected
33: RG6 is connected
129
Sec.
RG Actual Depth
2
INT 16
1/10 mm
145
Sec.
RG Actual Relative Depth
2
INT 16
1/10 mm
161
Sec.
RG Actual Width
2
INT 16
1/10 mm (with fingertip offset)
177
Sec.
RG Status
2
UINT 16
Same as above
193
Reserved
6
209
Prim.
Gecko Device connected
2
UINT 16
0: Disconnected
48: Gecko is connected
257
Prim.
Gecko Status
2
UINT 16
0b___1: Part detected
0b__1_: Pads worn
0b_1__: Pads OUT
0b1___: Busy
273
Prim.
Gecko Last Error Code
2
UINT 16
0: No error
289
Prim.
Actual Gecko Preload
Force
2
INT 16
1/100 N
305
Prim.
Actual Gecko Ultrasonic
Sensor Value
2
INT 16
1/100 mm
321
Reserved
6
337
Sec.
Gecko Device connected
2
UINT 16
0: Disconnected
48: Gecko is connected
385