Feedback Variables; 3Fg15 - OnRobot HEX-E QC User Manual

OPERATION
11 The search cannot start, because there is no recorded path on the Compute Box
with the selected ID.<br>Program halted.
12 The search cannot start, because there are no recorded points in this
Path.<br>Program halted.
13 The search cannot start, because the Path file found at this Path ID is
empty.<br>Program halted.
14 The search cannot start, because the Path file is corrupted.<br>Program halted.
F/T Insert Part Command Return Values
0 The insertion has reached the maximal insertion depth.
1 The insertion bumped after the minimal insertion depth.
2 The insertion slowed down after the minimal insertion depth.
3 The insertion got stuck before the minimal insertion depth.
4 The command has timed out after the minimal insertion depth.
5 The command has timed out before the minimal insertion depth.
6 The side-force/-torque limit has been reached after the minimal insertion depth.
7 The side-force/-torque limit has been reached before the minimal insertion depth.
8 Parameter error returned from the Compute Box.<br>Check the parameters for the
F/T Insert Part command.

6.6. Feedback Variables

6.6.1. 3FG15

Feedback Variable
on_return
tfg_Busy
tfg_Diameter
tfg_Grip_detected
136
Unit Description
The return value for the OnRobot commands
True/false Whether the gripper is active or not
[mm] Width between the fingers of the Gripper
True/False True if Gripper has detected a workpiece