OnRobot VGC10, Руководство пользователя, Страница: 111 / 213

Operation
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5.3 URScript commands
URScript commands can be used alongside other scripts.
RG2-FT ...........................................111
RG2-FT ...........................................111
RG2/RG6 ........................................111
VG10 / VGC10.................................112
RG2-FT
When the OnRobot URCap is enabled, there will be a defined RG2-FT script function:
rg2ft_proxi_offsets_set(ProxL = 0.0, ProxR = 0.0)
This function can be used to manually set offset values of the optical (proximity) finger sensor. The
ProxL
and
ProxR
are in millimeters.
RG2-FT
RG2/RG6
When the OnRobot URCap is enabled, there will be a defined RG script function:
rg_grip(rg_width, force, tool_index=0, blocking=True,
depth_compensation=False, popupmsg=True)
Blocking=True: the function waits for the gripper to finish the grip command
(popupmsg: future function, do not need to fill)
All the input arguments are the same as the ones used by the
RG Grip command
and it includes the
fingertip offset.
For example, a relative movement for quickly releasing a workpiece can be done as follows:
If only one gripper is connected:
rg_grip(r5, 40, rg_index_get())
→
This will open the Gripper 5mm with the target
force set at 40N.
If 2 RG grippers attached, use:
rg_grip(rg_Width_5, 40, 1)
-> for primary
rg_grip(rg_Width_se5, 40, 2)
-> for secondary