OnRobot UR CB3 Series - 6 Operation; Urcap Commands; Rg2-Ft; RG Grip

6. Operation
NOTE:
It is assumed that the Installation has finished successfully. If not, first do the
installation steps in the previous section.
6.1. URCap Commands
URCap commands provide an easy way to program an application.
6.1.1. RG2-FT
NOTE:
At program start the force/torque finger sensors are automatically zeroed so
no need to place a HEX-Zero command at the beginning of the program.
Please make sure that the fingers are not in contact with any obstacle when
the program is started. Otherwise the sensors will not be properly zeroed.
6.1.1.1. RG Grip
When the RG Grip command is executed, the gripper will try to reach the specified target (W
(Width) and F (Force)) and, if selected, Depth compensation ON and/or Automatic centering
ON. The
dierent functions are explained below.
NOTE:
To cancel any force/torque oset, execute an HEX-Zero command at the
beginning of the RG Grip command and make sure the gripper is not in
contact with any object before starting the program, otherwise the command
may not work properly.
OPERATION
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