OnRobot HEX-E QC - Return Values; Hex-E;H Qc, Rg2-Ft

Single Dual
Robot program
TCP (Optional)
MoveJ (Set TCP = Active TCP)
Robot program
TCP (Select Gripper 1)
MoveJ (Set TCP = Active TCP)
TCP (Select Gripper 2)
MoveJ (Set TCP = OnRobot_Dual_2)
6.5. Return Values
Those OnRobot commands that has return values updates the on_return variable once the
command exit. This global variable can be used with the UR’s built in If conditional
expressions (for example: if on_return == 1 then do something) to evaluate how the
command has ended.
6.5.1. HEX-E/H QC, RG2-FT
F/T Move Command Return Values
0
The move ended without detecting a force or torque greater than the set limit.
1 The move ended, because a force or torque greater than the set limit was detected.
3 The move was interrupted by a command.
11 The move cannot start, because there is no recorded path on the Compute Box with
the selected ID.<br>Program halted.
12 The move cannot start, because there are no recorded points in this
Path.<br>Program halted.
13 The move cannot start, because the Path file found at this Path ID is
empty.<br>Program halted.
14 The move cannot start, because the Path file is corrupted.<br>Program halted.
F/T Search Command Return Values
0
The search ended successfully, because a force or torque greater than the set limit
was detected.
1 The search ended without detecting a force or torque greater than the set limit.
3 The search was interrupted by a command.
OPERATION
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