OnRobot HEX-E QC - 6.6.4. RG2; RG6

Feedback
Variable
Unit Description
F3D_Left [N] Length of the 3D force vector for the left finger sensor
F3D_Left = √ Fx
L
² + Fy
L
² + Fz
L
²
F3D_Right [N] Length of the 3D force vector for the right finger sensor
F3D_Right = √ Fx
R
² + Fy
R
² + Fz
R
²
FT_Base [3xN,
3xNm]
Force and torque values calculated in the Base
Coordinate system, in an array
FT_Left [3xN,
3xNm]
list of {Fx,Fy,Fz,Tx,Ty,Tz} for the left finger sensor
FT_Right [3xN,
3xNm]
list of {Fx,Fy,Fz,Tx,Ty,Tz} for the right finger sensor
FT_Tool [3xN,
3xNm]
Force and torque values calculated in the Tool
Coordinate system, in an array
Part_Width [mm] The actual value of the detected part width (-1 if it not
applicable) measured by the proximity sensors
Proximity_Left [mm] The left proximity (distance) sensor actual value
Proximity_Right [mm] The right proximity (distance) sensor actual value
T3D_Left [Nm] Length of the 3D torque vector for the left finger sensor
T3D_Left = √ Tx
L
² + Ty
L
² + Tz
L
²
T3D_Right [Nm] Length of the 3D torque vector for the right finger sensor
T3D_Right = √ Tx
R
² + Ty
R
² + Tz
R
²
T3D [Nm] Length of the 3D torque vector
T3D = √ Tx² + Ty² + Tz²
Width [mm] Distance between the fingers of the Gripper (calculated
by finger angle encoders)
6.6.4. RG2 / RG6
Feedback Variable
Unit Description
on_return The return value for the OnRobot commands
OPERATION
138