2F-85 & 2F-140 - Instruction Manual
4.5.3.Object detection
When the gripper grabsan object, gOBJstatuswill allow you to know if contact with the object was successful. Thisis a built-in
feature for adaptive grippers meant to be used by the robot controller (or PLC)commanding the overall application. The Object
detection feature will change the gOBJ status and can be used inside your robot program.
As stated in the previoussection:
gOBJ: Only valid if gGTO = 1.
l
0x00 - Fingers are in motion towards requested position. No object detected.
l
0x01 - Fingers have stopped due to a contact while opening before requested position. Object detected.
l
0x02 - Fingers have stopped due to a contact while closing before requested position. Object detected.
l
0x03 - Fingers are at requested position. No object detected or object has been lost / dropped.
Example of contact detected with an object:
1. Set position, speed and force at maximum (full closing):
a. rPR== 0xFF, rSP== 0xFF, rFR==0xFF,
2. Set ''go to requested'' will initiate movement :
a. rGTO == 0x01
3. Then object detection statuswill be " in motion"
a. gOBJ= 0x00
4. Until an object ispicked, object detection status will then be "stopped due to contact while closing"
a. gOBJ= 0x02
5. The user can now assume it is holding the payload, and proceed to the next step.
Example of contact lost with an object:
1. From previous example, after an object is picked
a. gOBJ= 0x02
2. If the gOBJ statusdisplays 0x03 after it was0x02, user can assume contact with the object hasbeen lost.
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