OnRobot Gecko Gripper, Оригинальное руководство пользователя, Страница: 33 / 198

Operation
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5 Operation
NOTE:
It is assumed that the Installation has finished successfully. If not, first do
the installation steps in the previous section.
5.1 Overview
In order to make it easier to use the OnRobot products, high level functions have been written into the
USERPROC.INC
file. Some mandatory parameters, which shall be configured, are stored in the
PUBLIC.INC.
Both are uploaded to the robot during the installation.
These high-level functions can be used by calling these user procedures in your program:
CallProc OR_RGx_move(instance, width, force, waitfor)
All user program must start with calling the
OR_init()
function. It is used to set up which tools are
mounted on the robot, in which configuration.
CAUTION:
Calling the
OR_init()
with parameters that does not match the attached tool(s)
can result abnormal behavior.