OnRobot RG6 - Page 128

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tool_index: Select what screwdriver performs the action. 0 only one screwdriver
connected, 1 for screwdriver in position 1 and 2 for screwdriver position 2. Positions of
the dual quick changer.
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sd_pick(shank_force_n, screw_length_mm, tool_index, timeout_ms)
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shank_force_n: The force the shank is going to apply. Default value 20N.
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Screw_lenght_mm: The length of the screw.
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tool_index: Select what screwdriver performs the action. 0 only one screwdriver
connected, 1 for screwdriver in position 1 and 2 for screwdriver position 2. Positions of
the dual quick changer.timeout_ms: the time the command will keep trying to be
executed. If it is not executed in the given time, a return variable will show an error.
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sd_tighten(shank_force_n, screwing_l_mm, torque_nm, tool_index,
timeout_ms):
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shank_force_n: The force the shank is going to apply. Default value 20N.
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screwing_l_mm: The length the screw will be screwed into the thread.
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torque_nm: The target torque the screw will be tighten with.
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tool_index: Select what screwdriver performs the action. 0 only one screwdriver
connected, 1 for screwdriver in position 1 and 2 for screwdriver position 2. Positions of
the dual quick changer.
•
timeout_ms: the time the command will keep trying to be executed. If it is not
executed in the given time, a return variable will show an error.
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sd_loosen(shank_force_n, unscrewing_lenght_mm, tool_index, timeout_ms):
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shank_force_n: The force the shank is going to apply. Default value 20N.
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unscrewing_l_mm: The length the screw will be screwed out from the thread.
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tool_index: Select what screwdriver performs the action. 0 only one screwdriver
connected, 1 for screwdriver in position 1 and 2 for screwdriver position 2. Positions of
the dual quick changer.
•
timeout_ms: the time the command will keep trying to be executed. If it is not
executed in the given time, a return variable will show an error.
•
sd_stop(tool_index): The screwdriver will stop the running command.
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get_sd_Busy(): True if the screwdriver is executing a command.
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get_sd_Current_torque(): Provides the current measured torque
6.3.5. SG
When the OnRobot URCap is enabled, there will be several SG script functions available:
sg_grip(target_width, gentle_grip, tool_index=0, blocking=True,
depth_compensation=False)
target_width: The width that the gripper will open to. [mm]
gentle_grip: True: the grip will be done with the gentle grip feature (slow down close to
target_width)
tool_index: The index of the gripper to send the command to.
blocking=True: the function waits for the gripper to
finish the grip command.
depth_compensation=False: The robot will move during the grip to compensate for the
dierence in depth between the start and the end. (False by default)
OPERATION
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