OnRobot RG2-FT, User Manual

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The number shows the Current width value.
will set the Current width as target width. If used when a grasp is detected (see image
below) this will set the Target Width as Current width – 3 mm if the workpiece is grabbed
externally and + 3 mm if the workpiece is grabbed internally.
These are open and close hold-to-run buttons. Notice that to
enhance width precision the target Force is not applied when using these buttons.
Workpiece
Mass: the workpiece weight can be entered. The URCap software will then perform the
calculation of the resulting payload mass considering the gripper, the Quick Changer, and the
workpiece mass.
6.1.1.2. RG2-FT Insert Part
The
RG2-FT Insert Part
command can be used for precision fitting an object into a hole.
NOTE:
To cancel any force/torque offset, execute an
HEX-Zero
command at the
beginning of the
RG2-FT Insert Part
command and make sure the tool is
not in contact with any object before starting the
RG2-FT Insert Part
,
otherwise the command may not stop at the given force/torque limit.
OPERATION
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