OnRobot RG6 - Page 43

Operation
43
RG2/6
Function name:
OR_RGx_move(instance, width, force, wait)
Name
Type
Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
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:
instance = 1
width = 50
force = 20
waitFor = 1
CallProc OR_RG2FT_move (instance, width, force, waitFor)
Function name:
OR_RGx_isConn(instance)
Name
Type
Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
Output:
-
integer
0: gripper is not connected
1: gripper is connected
Description:
Checks that is RGx connected or not.
Example:
instance = 1
CallProc RG_connected = OR_RGx_isConn(instance)
Function name:
OR_RGx_isGrip(instance)
Name
Type
Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
Output:
-
integer
0: grip not detected
1: grip detected (something gripped)
Description:
Checks grip (part gripped or not).
Example:
instance = 1
CallProc RG_grip = OR_RGx_isGrip(instance)