ROBOTIQ Hand-E C10 - Page 95

Robotiq Hand-E C10 Gripper Instruction Manual
Name Description
rq_gripper_led_on() Allows the firmware to turn ON the LEDs when they have been force to OFFstatus.
rq_is_object_detected()
Returns True if the gripper motion has stopped due to an object. Returns False if
gripper motion was not impeded by an object. Useful for verifying that an object
has been picked correctly before going to the next step. Note: this function is not
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.
rq_open_and_wait()
Moves the gripper to its fully opened position and waits until the motion is
completed.
rq_reset()
Resets the gripper's activation status. Use after an autorelease before activating
the gripper.
rq_set_force_norm(force) Sets the gripper's force defined by the argument, normalized from 0% to 100%.
rq_set_speed_norm(speed) Sets the gripper's speed defined by the argument, normalized from 0% to 100%.
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