OnRobot RG6 - 3 FG15 URCap Setup

Operation
39
RG2-FT
Function name:
OR_RG2FT_move(width, force, wait)
Name
Type
Description
Input:
width
integer
Define the distance in mm
force
integer
Define the grip force in N
wait
integer
0: return after command is executed (without waiting
for gripper fingers move)
1: return after fingers reached the position
Output:
-
-
-
Description:
Open/close the gripper.
Example:
width = 50
force = 20
waitFor = 1
CallProc OR_RG2FT_move(width, Force, waitFor)
Function name:
OR_RG2FT_stop()
Name
Type
Description
Input:
-
-
-
Output:
-
-
-
Description:
Stop the gripper motion.
Example:
CallProc OR_RG2FT_stop()
Function name:
OR_RG2FT_pOffsAct()
Name
Type
Description
Input:
-
-
-
Output:
-
-
-
Description:
Set the current values as offset for proximity sensors. (The current distance value
will be zero.)
Example:
CallProc OR_RG2FT_pOffsAct()