OnRobot HEX-E QC - 6.3.2. RG2-FT

stop_if_no_force =true: If true, the robot program will stop if the force is not reached.
tool_index: Select what gripper performs the action. 0 only one gripper connected, 1 for
gripper in position 1 and 2 for gripper position 2. Positions of the dual quick changer.
blocking=True: the function waits for the gripper to
finish the grip command.
tfg_release(diameter, external_release= True, tool_index=0,
select_releasing=0, blocking=True)
diameter: The diameter that the gripper will open to. [mm]
external_release: If true, the internal gripper diameter to do an external release will be
used. If false, the external gripper diameter to do an internal release will be used.
tool_index: Select what gripper performs the action. 0 only one gripper connected, 1 for
gripper in position 1 and 2 for gripper position 2. Positions of the dual quick changer.
blocking=True: the function waits for the gripper to
finish the grip command.
For example, a relative movement for quickly releasing a workpiece can be done as follows: If
only one gripper is connected:
tfg_release(3fg_Diameter+5, 3fg_index_get()) This will open the Gripper 5mm with
the default speed.
If two 3FG grippers are attached, use:
tfg_release (3fg_Diameter_primary+5, 1) -> for primary
tfg_release (3fg_Diameter_primary+5, 2) -> for secondary
6.3.2. RG2-FT
When the OnRobot URCap is enabled, there will be a
defined RG2-FT script function:
rg2ft_proxi_offsets_set(ProxL = 0.0, ProxR = 0.0)
This function can be used to manually set
oset values of the optical (proximity) finger sensor.
The ProxL and ProxR are in millimeters.
When the OnRobot URCap is enabled, there will be a defined RG script function:
rg_grip(rg_width, force, tool_index=0, blocking=True,
depth_compensation=False, popupmsg=True)
Blocking=True: the function waits for the gripper to
finish the grip command
(popupmsg: future function, do not need to fill)
All the input arguments are the same as the ones used by the RG Grip command and it
includes the fingertip oset.
For example, a relative movement for quickly releasing a workpiece can be done as follows:
If only one gripper is connected:
rg_grip(rg_Width+5, 40, rg_index_get()) → This will open the Gripper 5mm with the
target force set at 40N.
If two RG grippers attached, use:
rg_grip(rg_Width_primary+5, 40, 1) → for primary
rg_grip(rg_Width_secondary+5, 40, 2) → for secondary
OPERATION
126