OnRobot Gecko Gripper, Оригинальное руководство пользователя, Страница: 38 / 198

Operation
38
HEX-E/H QC
Function name: OR_HEX_get(FT_type)
Name Type Description
Input:
FT_type
string
Requested force/torque value. Valid inputs:
“Fx”, “Fy”, “Fz”, “Tx”, “Ty”, “Tz”
Output: - integer
Requested force/torque value. Forces are in 1/10N,
torques are in 1/100Nm
Description: Get current force/torque value form the HEX sensor.
Example:
FT_type = “Fx”
CallProc Fx_value = OR_HEX_get(FT_type)
Function name: OR_HEX_zero()
Name Type Description
Input: - - -
Output: - -
-
Description:
Zeroing HEX sensor. (Use current force/torque values as offset, these values will
be zero.)
Example:
CallProc OR_HEX_zero()
Function name: OR_HEX_unzero()
Name Type Description
Input: - - -
Output: - -
-
Description: Unzero HEX sensor. (Reset offset.)
Example:
CallProc OR_HEX_unzero()
Function name: OR_HEX_isConn()
Input: Name Type Description
- - -
Output: - integer
0: sensor is not connected
1: sensor is connected
Description: Checks that is HEX connected or not.
Example:
CallProc OR_HEX_isConn()