2F-85 & 2F-140 - Instruction Manual
Single and Multiple Grippers(UCG-1.6.0 +)
All following functions require a final but optional parameter named gripper_socket. Thisparameter represents the gripper
identifier asdefined in the installation node. By default, the value of gripper_socket is 1. The admissible valuesare 1, 2, 3 and 4.
Name Description
rq_activate_and_wait()
Sends the gripper activation command. If it isalready activated, nothing happens. Note
that the gripper must be activated to complete any other operation. Program execution
waits for the activation.
rq_close_and_wait()
Moves the gripper to its fully closed position and waits until the motion iscompleted to
execute the next command.
rq_current_pos_norm()
Returns the current position of the fingers, normalized from 0% to 100%. Can be used to
verify that the pick issuccessful, by comparing the finger position when the pick was
taught with the similar-sized object.
rq_current_pos_mm()
Returns the current position of the fingers in millimeters, considering that the PolyScope
configuration hasbeen set to use the metric system as measurement system. Can be used
to verify that the pick is successful, by comparing the finger position when the pick was
taught with the similar-sized object.
rq_current_pos_inches()
Returns the current position of the fingers in inches, considering that the PolyScope
configuration hasbeen set to use the imperial system as measurement system. Can be
used to verify that the pick issuccessful, by comparing the finger position when the pick
was taught with the similar-sized object.
rq_get_gripper_max_cur(current_
mA)
Returns the maximum supply current value of the appropriate gripper in mA.
rq_gripper_led_off() Forcesthe LED to OFF status.
rq_gripper_led_on() Allowsthe firmware to turn ON the LEDs when they have been forced to OFF status.
rq_is_object_detected()
Returns True if the gripper motion has stopped due to an object. ReturnsFalse if gripper
motion wasnot impeded by an object. Useful for verifying that an object has been picked
correctly before going to the next step. Note: thisfunction isnot reliable for very small
objects. Refer to the Object detection section for more details.
rq_move_and_wait_norm
(position)
Moves the gripper to the position defined by the argument, normalized from 0%to 100%.
Waits until the motion is completed.
rq_move_and_wait_mm(position) Moves the gripper to the position defined by the argument.
rq_move_and_wait_inches
(position)
Moves the gripper to the position defined by the argument.
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