OnRobot Gecko Gripper, Оригинальное руководство пользователя, Страница: 76 / 198

Operation
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RG2-FT
Conditions Description
Proximity (L,R) Actual values of the left and right fingertip proximity sensors [mm]
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.
FT Bias TRUE if the sensor has been zeroed (biased).
Left and Right
F3D,T3D
F3D
= √𝐹𝑥
2
+ 𝐹𝑦
2
+𝐹𝑧
2
[N] where Fx, Fy, Fz are the fingertip sensor force
components
T3D
= √𝑇𝑥
2
+ 𝑇𝑦
2
+𝑇𝑧
2
[Nm] where Tx, Ty, Tz are the fingertip sensor torque
components
Both F3D,T3D The combined F3D and T3D acting on an object that the gripper gripped on
Commands Description
Width Set the gripper to a new width [mm] with a gripping force [N]
Bias
Set to TRUE to zero the F/T sensor signals (not permanent, will revert on
power reset)
VG10 / VGC10
Conditions Description
Actual vacuum A
Actual vacuum B
Actual vacuum level [0-80%] for channel A and channel B
Commands Description
Current limit Set the current limit (0-1000mA), default is 500mA
Grip Sets the vacuum level (0-80%) for channel A (param1) and channel B (param2)
Idle Switch of the motor but keep the valve closed for channel A, B or A+B
Release Opens the valve to quickly release the vacuum for channel A, B or A+B