OnRobot VGC10, Руководство пользователя, Страница: 118 / 213

Operation
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5.5 Return Values
Those OnRobot commands that has return values updates the
on_return
variable once the command
exit. This global variable can be used with the UR’s built in
If
conditional expressions (for example:
if
on_return == 1
then do something) to evaluate how the command has ended.
HEX-E/H QC
RG2-FT
F/T Move Command Return Values
0 The move ended without detecting a force or torque greater than the set limit.
1 The move ended, because a force or torque greater than the set limit was detected.
3 The move was interrupted by a command.
11 The move cannot start, because there is no recorded path on the Compute Box with the
selected ID.<br>Program halted.
12 The move cannot start, because there are no recorded points in this Path.<br>Program halted.
13 The move cannot start, because the Path file found at this Path ID is empty.<br>Program halted.
14 The move cannot start, because the Path file is corrupted.<br>Program halted.
F/T Search Command Return Values
0 The search ended successfully, because a force or torque greater than the set limit was
detected.
1 The search ended without detecting a force or torque greater than the set limit.
3 The search was interrupted by a command.
11
The search cannot start, because there is no recorded path on the Compute Box with the
selected ID.<br>Program halted.
12 The search cannot start, because there are no recorded points in this Path.<br>Program halted.
13
The search cannot start, because the Path file found at this Path ID is empty.<br>Program
halted.
14 The search cannot start, because the Path file is corrupted.<br>Program halted.
F/T Insert Part Command Return Values
0 The insertion has reached the maximal insertion depth.
1 The insertion bumped after the minimal insertion depth.
2 The insertion slowed down after the minimal insertion depth.
3 The insertion got stuck before the minimal insertion depth.
4 The command has timed out after the minimal insertion depth.
5 The command has timed out before the minimal insertion depth.
6 The side-force/-torque limit has been reached after the minimal insertion depth.
7 The side-force/-torque limit has been reached before the minimal insertion depth.
8
Parameter error returned from the Compute Box.<br>Check the parameters for the F/T Insert
Part command.