OnRobot UR CB3 Series - Urscript Commands; Rg2-Ft

NOTE:
The hand guiding could be configured (in the OnRobot installation page) to be
enabled with a single tap on the enable button (instead of holding)
and stopped with a second tap. However, the holding behavior is
recommended for increased safety.
NOTE:
Please always set the speed slider of the robot to 100% while using the hand
guiding to have an optimal user experience.
The zero button is intended to be used when the tool orientation is changed during hand
guiding, so that the eects of gravity or changes in the load of the robot can be neutralized.
The snap to axes button rotates the axes of the tool coordinate system to align with the
closest axes of the base coordinate system, disregarding negative or positive directions. This
allows the user to set the tool to face precisely horizontally, or vertically, after guiding by
hand.
NOTE:
If you are experiencing vibration, grab and guide the tool at the Center of
Gravity (roughly it is at the center).
6.3. URScript Commands
URScript commands can be used alongside other scripts.
6.3.1. RG2-FT
When the OnRobot URCap is enabled, there will be a defined RG2-FT script function:
rg2ft_proxi_offsets_set(ProxL = 0.0, ProxR = 0.0)
This function can be used to manually set
oset values of the optical (proximity) finger sensor.
The ProxL and ProxR are in millimeters.
When the OnRobot URCap is enabled, there will be a
defined RG script function:
rg_grip(rg_width, force, tool_index=0, blocking=True,
depth_compensation=False, popupmsg=True)
Blocking=True: the function waits for the gripper to finish the grip command
(popupmsg: future function, do not need to
fill)
All the input arguments are the same as the ones used by the RG Grip command and it
includes the fingertip oset.
For example, a relative movement for quickly releasing a workpiece can be done as follows:
If only one gripper is connected:
OPERATION
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