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Object detection :
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When the Gripper grabs an object, status will allow you to know if object retention was successful. This is a built-in feature for the 2-Finger GrippersgOBJ
meant to be used by the robot controller (or PLC) commanding the overall application. The Object detection feature will change the status and can begOBJ
used inside your robot program. As stated in the previous section :
gOBJ : Only valid if = 1.gGTO
0x00 - Fingers are in motion towards requested position. No object detected.
0x01 - Fingers have stopped due to a contact while opening before requested position. Object detected.
0x02 - Fingers have stopped due to a contact while closing before requested position. Object detected.
0x03 - Fingers are at requested position. No object detected or object has been lost / dropped.
Object detection exemple :
Set position, speed and force at maximum (full closing):
rPR == 0xFF, == 0xFF, ==0xFF, rSP rFR
Set ''go to requested'' will initiate movement :
rGTO == 0x01
Then object detection status will be "in motion"
gOBJ = 0x00
Until an object is picked, object detection status will then be "stopped due to contact while closing"
gOBJ = 0x02
The user can now assume it is holding the payload, and proceed to the next step.
Object lost example :
From previous example, after an object is picked, gOBJ = 0x02
If gOBJ = 0x03 after it was 0x02, user can assume the object as been lost.
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