Start-up
54
01.00 | ID 1392477 or 1403607 | Assembly and Operating Manual | en | 1405195
Ø
Expand the "Function" drop-down menu at the bottom left.
Ø
Scroll to the heading "SCHUNK Gripper EGL for UR - SCHUNK
GmbH & Co.".
✓
Different functions are displayed under the heading.
Function
Description
eglIsInPos()
The system returns the value "1" if a position movement was
triggered and the target position was reached.
The system returns the value "0" if the specified position was
not reached for a position movement or if another movement
was triggered.
eglGraspOK()
The system returns the value "1" if a gripping movement was
triggered and the movement was blocked before the maximum
or minimum position was reached. For the "Grip Workpiece"
setting, the value "1" is only returned if the movement was
blocked within the tolerance window of the component.
The system returns the value "0" if the specified position was
not reached for a position movement or if another movement
was triggered.
