OnRobot RG2-FT User Manual page 25

Current width W=...: the current width of the gripper.
W (Width): Enter the desired gripper width. Note that if the specified force is achieved, the
RG2-FT will stop at a width that differs from the target width.
F (Force): Enter the desired gripping force. Note that if the target width is reached before
the target force, the RG2-FT will stop moving and the target force may not be achieved at
the anticipated width.
Set Payload checkbox: if checked, the UR payload settings are overridden by the given value.
Execute button: executes the command with its current settings, without running
the entire Program. Note that the button needs to be pressed (Long touch) continuously to
operate.
Copy button: Copy the current width value to the desired W(width) edit box.
Open gripper button: hold the button to open the gripper. Can be stopped at any
position.
Close gripper button: hold the button to close the gripper. Can be stopped at any
position.
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Using the URCap Plugin 25
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