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. This parameter represents the gripper identifier as
defined in the installation node. By default, the value of gripper_socket is 1. The admissible values are 1, 2, 3 and 4.
Name
Description
rq_activate_and_wait()
Sends the gripper activation command. If it is already 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 is completed 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 is successful, 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 has been 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 has been set to use the imperial 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_get_gripper_max_cur(current_
mA)
Returns the maximum supply current value of the appropriate gripper in mA.
rq_gripper_led_off()
Forces the LED to OFF status.
rq_gripper_led_on()
Allows the 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. 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.
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