OnRobot HEX-E QC User Manual page 128

OPERATION
•
tool_index
connected, 1 for screwdriver in position 1 and 2 for screwdriver position 2. Positions of
the dual quick changer.
•
sd_pick(shank_force_n, screw_length_mm, tool_index, timeout_ms)
•
shank_force_n
•
Screw_lenght_mm
•
tool_index
connected, 1 for screwdriver in position 1 and 2 for screwdriver position 2. Positions of
the dual quick changer.timeout_ms: the time the command will keep trying to be
executed. If it is not executed in the given time, a return variable will show an error.
•
sd_tighten(shank_force_n, screwing_l_mm, torque_nm, tool_index,
:
timeout_ms)
•
shank_force_n
•
screwing_l_mm
: The target torque the screw will be tighten with.
•
torque_nm
•
tool_index
connected, 1 for screwdriver in position 1 and 2 for screwdriver position 2. Positions of
the dual quick changer.
•
timeout_ms
executed in the given time, a return variable will show an error.
•
sd_loosen(shank_force_n, unscrewing_lenght_mm, tool_index, timeout_ms)
•
shank_force_n
•
unscrewing_l_mm
•
tool_index
connected, 1 for screwdriver in position 1 and 2 for screwdriver position 2. Positions of
the dual quick changer.
•
timeout_ms
executed in the given time, a return variable will show an error.
•
sd_stop(tool_index)
•
get_sd_Busy()
•
get_sd_Current_torque()
6.3.5. SG
When the OnRobot URCap is enabled, there will be several SG script functions available:
sg_grip(target_width, gentle_grip, tool_index=0, blocking=True,
depth_compensation=False)
: The width that the gripper will open to. [mm]
target_width
: True: the grip will be done with the gentle grip feature (slow down close to
gentle_grip
target_width)
: The index of the gripper to send the command to.
tool_index
=True: the function waits for the gripper to finish the grip command.
blocking
depth_compensation
difference in depth between the start and the end. (False by default)
128
: Select what screwdriver performs the action. 0 only one screwdriver
: The force the shank is going to apply. Default value 20N.
: The length of the screw.
: Select what screwdriver performs the action. 0 only one screwdriver
: The force the shank is going to apply. Default value 20N.
: The length the screw will be screwed into the thread.
: Select what screwdriver performs the action. 0 only one screwdriver
: the time the command will keep trying to be executed. If it is not
: The force the shank is going to apply. Default value 20N.
: The length the screw will be screwed out from the thread.
: Select what screwdriver performs the action. 0 only one screwdriver
: the time the command will keep trying to be executed. If it is not
: The screwdriver will stop the running command.
: True if the screwdriver is executing a command.
: Provides the current measured torque
=False: The robot will move during the grip to compensate for the
: