OnRobot RG6 - Page 116

Additional Software Options
116
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
Prim.
VG CH A Control
2
UINT 16
0: Ignore
1: Grip
2: Idle
3: Release
257
Prim.
VG CH B Control
2
UINT 16
Same as Channel A
273
Prim.
VG CH A Target Vacuum
2
UINT 16
%
289
Prim.
VG CH B Target Vacuum
2
UINT 16
%
305
Prim.
VG Current limit
2
UINT 16
mA
321
Reserved
6
337
Sec.
VG CH A Control
2
UINT 16
0: Ignore
1: Grip
2: Idle
3: Release
385
Sec.
VG CH B Control
2
UINT 16
Same as Channel A
401
Sec.
VG CH A Target Vacuum
2
UINT 16
%
417
Sec.
VG CH B Target Vacuum
2
UINT 16
%
433
Sec.
VG Current limit
2
UINT 16
mA
449
Reserved
6
465