OnRobot Gecko Gripper, Original User Manual, Page: 41 / 198

Operation
41
Function name: OR_RG2FT_getRProx()
Name Type Description
Input: - - -
Output: - integer Right proximity sensor measured distance in mm
Description: Get right proximity sensor value.
Example:
CallProc rProxVal = OR_RG2FT_getRProx()
Function name: OR_RG2FT_getHex(ft_type)
Name Type Description
Input:
ft_type
string
Requested force/torque value. Valid inputs:
“rFx”, “rFy”, “rFz”, “rTx”, “rTy”, “rTz” (right F/T values)
“lFx”, “lFy”, “lFz”, “lTx”, “lTy”, “lTz” (left F/T values)
Output: - integer
Requested force or torque value. Force values are in
1/10N, torque values are in 1/100Nm.
Description: Get force/torque value from HEX sensors.
Example:
FT_type = “lFz”
‘get left HEX force value on Z axis
CallProc left_Fz = OR_RG2FT_getHex_f (FT_type)
Function name: OR_RG2FT_getWidth()
Name Type Description
Input: - - -
Output: - integer Gripper actual width in mm
Description: Get gripper fingertips actual distance.
Example:
CallProc act_width = OR_RG2FT_getWidth()
Function name: OR_RG2FT_isConn()
Name Type Description
Input: - - -
Output: - integer
0: gripper is not connected
1: gripper is connected
Description: Checks that is RG2FT connected or not.
Example:
CallProc connected = OR_RG2FT_isConn()