OnRobot RG6 - Page 35

Operation
35
Gecko
Function name:
OR_Gecko_padOut(instance, wait)
Name
Type
Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration"
wait
integer
0: return after command is executed
1: return after pads reached the final position
Output:
-
-
-
Description:
Move Gecko pads out.
Example:
instance = 1
waitFor = 1
CallProc OR_Gecko_padOut(instance, waitFor)
Function name:
OR_Gecko_padIn(instance, wait)
Name
Type
Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
wait
integer
0: return after command is executed
1: return after pads reached the final position
Output:
-
-
-
Description:
Move Gecko pads in.
Example:
instance = 1
waitFor = 1
CallProc OR_Gecko_padIn(instance, waitFor)
Function name:
OR_Gecko_getF(instance)
Name
Type
Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
Output:
-
integer
Gripper measures the preload force in N
Description:
Get preload force form the gripper.
Example:
instance = 1
CallProc preload_force = OR_Gecko_getF(instance)