OnRobot Gecko Gripper, Original User Manual, Page: 107 / 198

Additional Software Options
107
Parameter name Bytes Type Comments Start bit
HEX Device connected 2 UINT 16
0: Disconnected
64: HEX is connected
1
HEX Status 4 UINT 32 0: No error 17
HEX Filter 2 UINT 16 See below 49
HEX Fx 2 INT 16 1/10 N 65
HEX Fy 2 INT 16 1/10 N 81
HEX Fz 2 INT 16 1/10 N 97
HEX Tx 2 INT 16 1/100 Nm 113
HEX Ty 2 INT 16 1/100 Nm 129
HEX Tz 2 INT 16 1/100 Nm 145
Reserved 4 161
Prim. RG Device connected 2 UINT 16
0: Disconnected
32: RG2 is connected
33: RG6 is connected
193
Prim. RG Actual Depth 2 INT 16 1/10 mm 209
Prim. RG Actual Relative Depth 2 INT 16 1/10 mm 225
Prim. RG Actual Width 2 INT 16 1/10 mm (with fingertip offset) 241
Prim. RG Status 2 UINT 16
0b______1: 1 when in motion, 0
when not. The gripper will only
accept new commands when 0.
0b_____1_: Internal- or external
grip is detected.
0b____1__: Safety switch 1 is
pushed.
0b___1___: Safety circuit 1 is
activated. The gripper will not
move while this flag is high; can
only be reset by power cycling the
gripper.
0b__1____: Safety switch 2 is
pushed.
0b_1_____: Safety circuit 2 is
activated. The gripper will not
move while this flag is high; can
only be reset by power cycling the
gripper.
0b1______: General safety error.
Possible cause: the gripper is
booted with some safety switch
pressed or hardware error.
257
Reserved 6 273