OnRobot Gecko Gripper, Оригинальное руководство пользователя, Страница: 75 / 198

Operation
75
HEX-E/H QC
Conditions Description
Bias TRUE if the sensor has been zeroed (biased).
F3D, T3D
F3D = √𝐹𝑥
2
+ 𝐹𝑦
2
+𝐹𝑧
2
[N]
T3D
= √𝑇𝑥
2
+ 𝑇𝑦
2
+𝑇𝑧
2
[Nm]
Fx, Fy, Fz, Tx, Ty, Tz Actual force [N] and torque [Nm] values
Commands Description
Bias
Set to TRUE to zero the F/T sensor signals (not permanent, will revert on
power reset)
RG2/6
Conditions Description
Width Actual width of the gripper [mm]
Busy
True if the gripper is in motion (can only accept new commands when not
busy)
Grip Internal or external grip is detected.
Safety pressed True if any of the gripper's safety switch is currently being pressed.
Safety triggered True if any of the gripper's safety switch is triggered.
Commands Description
Width Set the gripper to a new width [mm] with a gripping force [N]
Fingertip offset
Set the fingertip offset from the inner side of the metal [mm]. Positive number
means inward.
Power cycle
If safety switch stopped the gripper use this to get back to normal operation.
Resets the tool power for a second. If another gripper is connected, that will also
be powered off and powered on for a second. (Make sure that during power off
no part to will be dropped.)