3-Finger Adaptive Robot Gripper Instruction Manual
The
3F Object Detected
node is prepackaged in an
If
statement. Selecting the
Detected
radio button will affect the node's name in the program tree
and perform the actions following said node if an object is detected in the Gripper.
On the other hand, selecting the
NOT detected
radio button will also affect the node's name accordingly and perform the actions following the program
node if no object has been detected in the Gripper.
4.9.4 Script functions
Below is the list of functions defined in the URCap. These functions interface with the Modbus client in order to facilitate the control of the Gripper.
There are two types of functions:
blocking
and
non-blocking
.
Blocking functions will send commands to the Gripper and wait for their completion.
Non-blocking functions will send commands to the Gripper and allow the program to carry on with the execution of the subsequent instructions.
The
_and_wait
suffix differentiates both types of functions.
Info
Note that the majority of the following functions can be used by calling their respective subprograms (except
rq_is_motion_complete
,
rq_is_gripper_activated
and
rq_is_object_detected
)
Function Name
Function Description
rq_activate
Sends the gripper activation command. If it is already activated, nothing happens. Program execution continues
before the end of the activation.
rq_activate_and_wait
Activates the gripper and wait until the motion is over. If it is already activated, nothing happens.
rq_stop
Stops the current motion (has no effect on activation/auto-release commands)
rq_reset
Resets the activation bit. To move the gripper will need to be activated again.
rq_auto_release_and_wait
Slowly moves the gripper to its maximum opened position. The gripper must be activated after this command.
rq_set_force
Uses the argument as the force set point.
rq_set_speed
Uses the argument as the speed set point
rq_open
Requests the gripper to move to its fully opened position
rq_open_and_wait
Moves the gripper to its fully opened position and wait until the motion is over
rq_close
Requests the gripper to move to its fully closed position
rq_close_and_wait
Moves the gripper to its fully closed position and wait until the motion is over
rq_move
Requests the gripper to move to the position defined by the argument
rq_move_and_wait
Moves the gripper to the position defined by the argument and wait until the motion is over
rq_set_basic_mode
Sets the gripper in the basic mode. Refer to the gripper's manual.
rq_set_pinch_mode
Sets the gripper in the pinch mode. Refer to the gripper's manual.
rq_set_wide_mode
Sets the gripper in the wide mode. Refer to the gripper's manual.
rq_set_scissor_mode
Sets the gripper in the scissor mode. Refer to the gripper's manual.
rq_is_motion_complete
Returns True if the gripper motion is complete .Otherwise it returns False.
rq_is_gripper_activated
Returns True if the gripper is activated. Otherwise it returns False.
rq_is_object_detected
Returns True if the gripper has detected an object. Otherwise it returns False.
rq_print_fault_code
Prints the gripper's fault code in the UR log window
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