UFactory xArm 5, Руководство пользователя

Страница: 128 / 182

128
【 object is (picked/release) 】
● Detect whether the vacuum gripper has picked (released) the object. If it is detected
that the vacuum gripper has picked (released) the object, then jump out of this
command and execute the next command. If the timeout period is exceeded, the
vacuum gripper has not yet picked (released) the object, it will also jump out of the
command and execute the next command.
【 get xarm vacuum gripper state 】
● Obtain whether the vacuum gripper picks the object or not. When the vacuum
gripper state is 1, it indicates that the object is picked successfully; when the
vacuum gripper state is 0, it indicates that the object fails to be picked.
【 set xarm vacuum gripper (ON/OFF) object detection (true/false) [set] 】
● Set the vacuum gripper to be on and off.
[object detection] = true: detect whether the object is picked, if not, it will jump out of
the entire program.
[object detection] = false: do not detect whether the object is picked.
1.6.8 Application
【 Run Trajectory (path) Times [1] 】
● Users can import the trajectory recording file and set the times of executions.
【 Import other APP 】
● Users can import Blockly of other projects.