Rg2/Rg6; Screwdriver - OnRobot HEX-E QC User Manual

OPERATION

6.3.3. RG2/RG6

When the OnRobot URCap is enabled, there will be a defined RG script function:
rg_grip(rg_width, force, tool_index=0, blocking=True,
depth_compensation=False, popupmsg=True)
Blocking=True: the function waits for the gripper to finish the grip command
(popupmsg: future function, do not need to fill)
All the input arguments are the same as the ones used by the
includes the fingertip offset.
For example, a relative movement for quickly releasing a workpiece can be done as follows:
If only one gripper is connected:
rg_grip(rg_Width+5, 40, rg_index_get())
target force set at 40N.
If two RG grippers attached, use:
rg_grip(rg_Width_primary+5, 40, 1)
rg_grip(rg_Width_secondary+5, 40, 2)

6.3.4. Screwdriver

When the OnRobot URCap is enabled, there will be several Screwdriver script functions
available:
•
get_sd_Process_OK()
•
get_sd_Process_NOK()
•
get_sd_Achieved_torque()
executed.
•
get_sd_Torque_gradient()
command has been executed.
•
get_sd_Command_results()
0 - no additional result data
•
• 1 - command unknown
2 - not screwing in
•
3 - timeout waiting for correct torque (2sec)
•
4 - torque exceeded unexpected (premature)
•
5 - unable to loosen screw (maximum torque exceeded)
•
6 - Shank reached the 55 mm position
•
7 - Shank obstructed during move
•
•
get_sd_Target_torque()
executed.
•
sd_check_torque(tolerance_nm)
within the range of the sd_Target_torque +/- the
•
Tolerance_nm
•
sd_move(shank_pos_mm, tool_index)
•
shank_pos_mm
→ for primary
: True if the command is executed correctly.
: True if the command is not executed correctly.
: Achieved torque in Nm after a tighten command has been
: Achieved torque gradient in Nm/rad after a tighten
: The possible values are:
: Last Tighten command Target torque in Nm after it has been
: This will return true if the sd_Achieved_torque is
: the toque error allowed.
: the position the shank will move to.
RG Grip
→ This will open the Gripper 5mm with the
→ for secondary
tolerance_nm
command and it
.
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