OnRobot RG6 - Page 38

Operation
38
HEX-E/H QC
Function name:
OR_HEX_get(FT_type)
Name
Type
Description
Input:
FT_type
string
Requested force/torque value. Valid inputs:
“Fx”, “Fy”, “Fz”, “Tx”, “Ty”, “Tz”
Output:
-
integer
Requested force/torque value. Forces are in 1/10N,
torques are in 1/100Nm
Description:
Get current force/torque value form the HEX sensor.
Example:
FT_type = “Fx”
CallProc Fx_value = OR_HEX_get(FT_type)
Function name:
OR_HEX_zero()
Name
Type
Description
Input:
-
-
-
Output:
-
-
-
Description:
Zeroing HEX sensor. (Use current force/torque values as offset, these values will
be zero.)
Example:
CallProc OR_HEX_zero()
Function name:
OR_HEX_unzero()
Name
Type
Description
Input:
-
-
-
Output:
-
-
-
Description:
Unzero HEX sensor. (Reset offset.)
Example:
CallProc OR_HEX_unzero()
Function name:
OR_HEX_isConn()
Input:
Name
Type
Description
-
-
-
Output:
-
integer
0: sensor is not connected
1: sensor is connected
Description:
Checks that is HEX connected or not.
Example:
CallProc OR_HEX_isConn()