OnRobot VGC10, Руководство пользователя, Страница: 93 / 213

Operation
93
RG2/6
RG Grip
The
RG Grip
command is used to grip/release a workpiece.
When the
RG Grip
command is executed, the gripper will try to reach the specified target ( Width and
Force ) and, if selected, Depth compensation . The different functions are explained below.
Select device
When two grippers are used, the radio buttons with the gripper's name will appear. These buttons
will select which one of the two grippers performs the action.
Target
Width : The target gripping width can be set by using the Save as Target/Save Grasp button
(recommended) or by typing it in manually.
When pressed, the gripper will act as if the command is executed.
Force : Set the target gripping Force (3-40 N for the RG2 and 25-120 N for the RG6).
Depth compensation : During closing and opening the gripper, the robot moves to compensate for
the circular movement of the fingers, so that the fingertips remain on the target. When the
icon is pressed, the following graphical illustration will appear in a new page.