OnRobot Gecko Gripper, Original User Manual, Page: 43 / 198

Operation
43
RG2/6
Function name: OR_RGx_move(instance, width, force, wait)
Name Type Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
width
integer Define the distance in mm
force
integer Define the grip force in N
wait
integer
0: return after command is executed (without waiting
for gripper fingers move)
1: return after fingers reached the position
Output: - -
-
Description: Open/close the gripper.
Example:
instance = 1
width = 50
force = 20
waitFor = 1
CallProc OR_RG2FT_move (instance, width, force, waitFor)
Function name: OR_RGx_isConn(instance)
Name Type Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
Output: - integer
0: gripper is not connected
1: gripper is connected
Description: Checks that is RGx connected or not.
Example:
instance = 1
CallProc RG_connected = OR_RGx_isConn(instance)
Function name: OR_RGx_isGrip(instance)
Name Type Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
Output: - integer
0: grip not detected
1: grip detected (something gripped)
Description: Checks grip (part gripped or not).
Example:
instance = 1
CallProc RG_grip = OR_RGx_isGrip(instance)