OnRobot Gecko Gripper, Original User Manual, Page: 98 / 198

Additional Software Options
98
RG2-FT
T->O assembly id: 102
T->O data size: 64 bytes
T->O parameters:
Parameter name Bytes Type Comments Start bit
RG2-FT Device connected 2 UINT 16
0: Disconnected
34: RG2-FT is Connected
1
Left HEX Status 4 UINT 32 0: No error 17
Left HEX Filter 2 UINT 16 See below 49
Left HEX Fx 2 INT 16 1/10 N 65
Left HEX Fy 2 INT 16 1/10 N 81
Left HEX Fz 2 INT 16 1/10 N 97
Left HEX Tx 2 INT 16 1/100 Nm 113
Left HEX Ty 2 INT 16 1/100 Nm 129
Left HEX Tz 2 INT 16 1/100 Nm 145
Reserved 4 161
Right HEX Status 4 UINT 32 0: No error 193
Right HEX Filter 2 UINT 16 See below 225
Right HEX Fx 2 INT 16 1/10 N 241
Right HEX Fy 2 INT 16 1/10 N 257
Right HEX Fz 2 INT 16 1/10 N 273
Right HEX Tx 2 INT 16 1/100 Nm 289
Right HEX Ty 2 INT 16 1/100 Nm 305
Right HEX Tz 2 INT 16 1/100 Nm 321
Reserved 4 337
Left Proximity Distance 2 INT 16 mm 369
Left Proximity Raw Dist. 2 INT 16 mm 385
Right Proximity Distance 2 INT 16 mm 401
Right Proximity Raw Dist. 2 INT 16 mm 417
RG Actual width 2 INT 16 1/10 mm 433
RG Status 2 UINT 16
0b___1: Busy
0b__1_: Grip detected
0b_1__: Left Proximity has error
0b1___: Right Proximity has error
449
Reserved 6 465