OnRobot RG6 - Page 108

Additional Software Options
108
O->T assembly id: 151
O->T data size: 32 bytes
O->T parameters:
Parameter name
Bytes
Type
Comments
Start
bit
HEX Zero
2
UINT 16
0: Ignored
1: Zero
2: Unzero
1
HEX Filter
2
UINT 16
0: Ignored
1: No filtering
2: 500 Hz
3: 150 Hz
4: 50 Hz
5: 15 Hz
6: 5 Hz
7: 1.5 Hz
17
Reserved
12
33
Prim.
RG Target Width
2
UINT 16
1/10 mm (corrected with fingertip offset
)
129
Prim.
RG Target Force
2
UINT 16
1/10 N
145
Prim.
RG Control
2
UINT 16
0: Ignored
1: Start motion to target
2: Stop the current motion
161
Prim.
RG Custom Fingertip offset
2
INT 16
Offset measured from metal (1/10mm)
177
Prim.
RG Store Fingertip offset
2
UINT 16
0: Ignored
1: Store offset
193
Prim.
RG Reset Tool Power
2
UINT 16
0: Ignored
1: Reset
209
Reserved
4
225