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6 marzo 2018
5
Working with qb SoftHand URCap Plugin
This Program Node URCap let you send a "percent-position closure command" to the
connected qb SoftHand research, at a given time in your Program.
As it is highlighted in the user interface, this closure value has the following meaning:
•
0%: the hand is completely opened;
•
...%: the hand is partially closed;
•
100%: the hand is completely closed.
During the Program execution, each time this URCap node is reached, the given closure
value reference command is sent to the qb SoftHand research over a RS485 serial
communication channel.
Note:
it is recommended to provide enough time for the grasping (i.e. at least a one-
second
Wait Child
).
Figure 5.1 qb SoftHand URCap Graphical User Interface.
