OnRobot RG6 - RG2-FT URCap Setup

Operation
44
Function name:
OR_RGx_isBusy(instance)
Name
Type
Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
Output:
-
integer
0: idle
1: busy (fingers are moving)
Description:
Checks gripper state (busy or idle).
Example:
instance = 1
CallProc RG_busy = OR_RGx_isBusy(instance)
Function name:
OR_RGx_isSSOn(instance)
Name
Type
Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
Output:
-
integer
0: safety switch not triggered, normal operation
1: safety switch triggered, gripper disabled
Description:
Checks safety switch status.
Example:
instance = 1
CallProc safetyswitchOn = OR_RGx_isSSOn(instance)