OnRobot RG6 - RG2;6 Grip Command

Additional Software Options
98
RG2-FT
T->O assembly id: 102
T->O data size: 64 bytes
T->O parameters:
Parameter name
Bytes
Type
Comments
Start bit
RG2-FT Device connected
2
UINT 16
0: Disconnected
34: RG2-FT is Connected
1
Left
HEX Status
4
UINT 32
0: No error
17
Left
HEX Filter
2
UINT 16
See below
49
Left
HEX Fx
2
INT 16
1/10 N
65
Left
HEX Fy
2
INT 16
1/10 N
81
Left
HEX Fz
2
INT 16
1/10 N
97
Left
HEX Tx
2
INT 16
1/100 Nm
113
Left
HEX Ty
2
INT 16
1/100 Nm
129
Left
HEX Tz
2
INT 16
1/100 Nm
145
Reserved
4
161
Right
HEX Status
4
UINT 32
0: No error
193
Right
HEX Filter
2
UINT 16
See below
225
Right
HEX Fx
2
INT 16
1/10 N
241
Right
HEX Fy
2
INT 16
1/10 N
257
Right
HEX Fz
2
INT 16
1/10 N
273
Right
HEX Tx
2
INT 16
1/100 Nm
289
Right
HEX Ty
2
INT 16
1/100 Nm
305
Right
HEX Tz
2
INT 16
1/100 Nm
321
Reserved
4
337
Left
Proximity Distance
2
INT 16
mm
369
Left
Proximity Raw Dist.
2
INT 16
mm
385
Right
Proximity Distance
2
INT 16
mm
401
Right
Proximity Raw Dist.
2
INT 16
mm
417
RG Actual width
2
INT 16
1/10 mm
433
RG Status
2
UINT 16
0b___1: Busy
0b__1_: Grip detected
0b_1__: Left Proximity has error
0b1___: Right Proximity has error
449
Reserved
6
465