OnRobot RG6 - Feedback Variables; 3 Fg15

11 The search cannot start, because there is no recorded path on the Compute Box
with the selected ID.<br>Program halted.
12 The search cannot start, because there are no recorded points in this
Path.<br>Program halted.
13 The search cannot start, because the Path file found at this Path ID is
empty.<br>Program halted.
14 The search cannot start, because the Path file is corrupted.<br>Program halted.
F/T Insert Part Command Return Values
0
The insertion has reached the maximal insertion depth.
1 The insertion bumped after the minimal insertion depth.
2 The insertion slowed down after the minimal insertion depth.
3 The insertion got stuck before the minimal insertion depth.
4 The command has timed out after the minimal insertion depth.
5 The command has timed out before the minimal insertion depth.
6 The side-force/-torque limit has been reached after the minimal insertion depth.
7 The side-force/-torque limit has been reached before the minimal insertion depth.
8 Parameter error returned from the Compute Box.<br>Check the parameters for the
F/T Insert Part command.
6.6. Feedback Variables
6.6.1. 3FG15
Feedback Variable
Unit Description
on_return The return value for the OnRobot commands
tfg_Busy True/false Whether the gripper is active or not
tfg_Diameter [mm] Width between the fingers of the Gripper
tfg_Grip_detected True/False True if Gripper has detected a workpiece
OPERATION
136