Using the URCap Plugin
22
OnRobot © 2018
www.onrobot.com
The Force values and Torque values are visible. You can use these variables in any
program.
These variables are updated automatically at a rate of approximately 125Hz:
•
F3D
: Length of the 3D force vector F3D = sqrt (Fx
2
+Fy
2
+Fz
2
) (N)
•
Fx
: Force vector in the X direction in Newton (N)
•
Fy
: Force vector in the Y direction in Newton (N)
•
Fz
: Force vector in the Z direction in Newton (N)
•
T3D
: Length of the 3D torque vector T3D = sqrt (Tx
2
+Ty
2
+Tz
2
) (Nm)
•
Tx
: Torque in the X direction in Newton Meter (Nm)
•
Ty
: Torque in the Y direction in Newton Meter (Nm)
•
Tz
: Torque in the Z direction in Newton Meter (Nm)
•
bFT
: Force and torque values calculated in the Base Coordinate system,
in an array in Newton (N) and Newton Meter (Nm)
•
of_compute_engine_ping
: the actual ping of the Compute Box Robot
Controller communication
•
of_compute_engine_ping_max
: the highest ping of the Compute Box
Robot Controller communication, since the last program start
•
of_return
: the variable used to store the outcome of OnRobot
commands
•
tFT
: Force and torque values calculated in the Tool Coordinate system,
in an array in Newton (N) and Newton Meter (Nm)
