OnRobot RG6 - Page 41

Operation
41
Function name:
OR_RG2FT_getRProx()
Name
Type
Description
Input:
-
-
-
Output:
-
integer
Right proximity sensor measured distance in mm
Description:
Get right proximity sensor value.
Example:
CallProc rProxVal = OR_RG2FT_getRProx()
Function name:
OR_RG2FT_getHex(ft_type)
Name
Type
Description
Input:
ft_type
string
Requested force/torque value. Valid inputs:
“rFx”, “rFy”, “rFz”, “rTx”, “rTy”, “rTz” (right F/T values)
“lFx”, “lFy”, “lFz”, “lTx”, “lTy”, “lTz” (left F/T values)
Output:
-
integer
Requested force or torque value. Force values are in
1/10N, torque values are in 1/100Nm.
Description:
Get force/torque value from HEX sensors.
Example:
FT_type = “lFz” ‘get left HEX force value on Z axis
CallProc left_Fz = OR_RG2FT_getHex_f (FT_type)
Function name:
OR_RG2FT_getWidth()
Name
Type
Description
Input:
-
-
-
Output:
-
integer
Gripper actual width in mm
Description:
Get gripper fingertips actual distance.
Example:
CallProc act_width = OR_RG2FT_getWidth()
Function name:
OR_RG2FT_isConn()
Name
Type
Description
Input:
-
-
-
Output:
-
integer
0: gripper is not connected
1: gripper is connected
Description:
Checks that is RG2FT connected or not.
Example:
CallProc connected = OR_RG2FT_isConn()