OnRobot UR CB3 Series - RG2-FT Insert Part

The number shows the Current width value.
will set the Current width as target width. If used when a grasp is detected (see image
below) this will set the Target Width as Current width – 3 mm if the workpiece is grabbed
externally and + 3 mm if the workpiece is grabbed internally.
These are open and close hold-to-run buttons. Notice that to
enhance width precision the target Force is not applied when using these buttons.
Workpiece
Mass: the workpiece weight can be entered. The URCap software will then perform the
calculation of the resulting payload mass considering the gripper, the Quick Changer, and the
workpiece mass.
6.1.1.2. RG2-FT Insert Part
The RG2-FT Insert Part command can be used for precision
fitting an object into a hole.
NOTE:
To cancel any force/torque oset, execute an HEX-Zero command at the
beginning of the RG2-FT Insert Part command and make sure the tool is
not in contact with any object before starting the RG2-FT Insert Part,
otherwise the command may not stop at the given force/torque limit.
OPERATION
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