OnRobot RG6 - Screwdriver Commands

Additional Software Options
100
RG2/6
NOTE:
This assembly instance can be used for both single and dual gripper
configuration. Not only dual RG2 or dual RG6 but mixed configuration is
also possible (RG2+RG6 or RG6+RG2). When used in single gripper
configuration always use the Primary (Prim.) values.
T->O assembly id: 104
T->O data size: 32 bytes
T->O parameters:
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