OnRobot HEX-E QC - 6.3.3. RG2;RG6; 6.3.4. Screwdriver

6.3.3. RG2/RG6
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
6.3.4. Screwdriver
When the OnRobot URCap is enabled, there will be several Screwdriver script functions
available:
•
get_sd_Process_OK(): True if the command is executed correctly.
•
get_sd_Process_NOK(): True if the command is not executed correctly.
•
get_sd_Achieved_torque(): Achieved torque in Nm after a tighten command has been
executed.
•
get_sd_Torque_gradient(): Achieved torque gradient in Nm/rad after a tighten
command has been executed.
•
get_sd_Command_results(): The possible values are:
•
0 - no additional result data
•
1 - command unknown
•
2 - not screwing in
•
3 - timeout waiting for correct torque (2sec)
•
4 - torque exceeded unexpected (premature)
•
5 - unable to loosen screw (maximum torque exceeded)
•
6 - Shank reached the 55 mm position
•
7 - Shank obstructed during move
•
get_sd_Target_torque(): Last Tighten command Target torque in Nm after it has been
executed.
•
sd_check_torque(tolerance_nm): This will return true if the sd_Achieved_torque is
within the range of the sd_Target_torque +/- the tolerance_nm.
•
Tolerance_nm: the toque error allowed.
•
sd_move(shank_pos_mm, tool_index)
•
shank_pos_mm: the position the shank will move to.
OPERATION
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