OnRobot RG6 - Page 114

Additional Software Options
114
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
Prim.
VG Device connected
2
UINT 16
0: Disconnected
16: VG10 is connected
17: VGC10 is connected
257
Prim.
VG Current limit
2
UINT 16
mA
273
Prim.
VG CH A actual vacuum
2
UINT 16
1/10 %
289
Prim.
VG CH B actual vacuum
2
UINT 16
1/10 %
305
Reserved
8
321
Sec.
VG Device connected
2
UINT 16
0: Disconnected
16: VG10 is connected
17: VGC10 is connected
385
Sec.
VG Current limit
2
UINT 16
mA
401
Sec.
VG CH A actual vacuum
2
UINT 16
1/10 %
417
Sec.
VG CH B actual vacuum
2
UINT 16
1/10 %
433
Reserved
8
449