OnRobot HEX-E v1, Руководство пользователя

Страница: 57 / 68

Appendix 57
OnRobot © 2018 www.onrobot.com
6.4.5
F/T Guard
Command Return Values
This command has no return value, and halts the program when limits are reached.
6.4.6
F/T Insert Box
Command Return Values
0 The Box Insertion finished with no error.
1 The first direction search was unsuccessful. Movement reached the distance
limit.
2 The second direction search was unsuccessful. Movement reached the
distance limit.
3 The tilt back movement was unsuccessful. Collision occurred.
4 The tilt movement was unsuccessful. Collision occurred.
5 The box stuck during the insertion state while center pointing of the X axis!
Please check the position and orientation.
6 The box stuck during the insertion state while center pointing of the Y axis!
Please check the position and orientation.
7 The box stuck during the insertion state while center pointing of the Z axis!
Please check the position and orientation.
8 The box cannot be inserted to position, too many collisions occurred. Please
check the position and orientation.
6.4.7
F/T Insert Pin
Command Return Values
0 The Insert Pin command reached the maximal distance.
1 The Insert Pin command exited at a bump after the minimal insertion depth.
2 The Insert Pin command got stuck after the minimal insertion depth.
Insertion is slower than required.
3 The Insert Pin command got stuck before the minimal insertion depth.
Insertion is slower than required.
4 The Insert Pin command exited with timeout after the minimal insertion
depth.
5 The Insert Pin command exited with timeout before the minimal insertion
depth.
6 The Insert Pin command exited due to too high side-forces/-torques at the
non-compliant axes after the minimal insertion depth.
7 The Insert Pin command exited due to too high side-forces/-torques at the
non-compliant axes before the minimal insertion depth.