OnRobot RG6 - Page 101

Additional Software Options
101
O->T assembly id: 105
O->T data size: 32 bytes
O->T parameters:
Parameter name
Bytes
Type
Comments
Start bit
Prim.
RG Target Width
2
UINT 16
1/10 mm (corrected with fingertip offset )
1
Prim.
RG Target Force
2
UINT 16
1/10 N
17
Prim.
RG Control
2
UINT 16
0: Ignored
1: Start motion to target
2: Stop the current motion
33
Prim.
RG Custom Fingertip offset
2
INT 16
Offset measured from metal (1/10mm)
49
Prim.
RG Store Fingertip offset
2
UINT 16
0: Ignored
1: Store offset
65
Prim.
RG Reset Tool Power
2
UINT 16
0: Ignored
1: Reset
81
Reserved
4
97
Sec.
RG Target Width
2
UINT 16
1/10 mm (corrected with fingertip offset )
129
Sec.
RG Target Force
2
UINT 16
1/10 N
145
Sec.
RG Control
2
UINT 16
0: Ignored
1: Start motion to target
2: Stop the current motion
161
Sec.
RG Custom Fingertip offset
2
INT 16
Offset measured from metal (1/10mm)
177
Sec.
RG Store Fingertip offset
2
UINT 16
0: Ignored
1: Store offset
193
Sec.
RG Reset Tool Power
2
UINT 16
0: Ignored
1: Reset
209
Reserved
4
225