Hex-E/H Qc; Rg2-Ft - OnRobot HEX-E QC User Manual

OPERATION
Feedback Variable
tfg_Force_Grip_detected

6.6.2. HEX-E/H QC

Feedback
Variable
on_return
F3D
FT_Base
FT_Tool
Fx
Fy
Fz
T3D
Tx
Ty
Tz

6.6.3. RG2-FT

Feedback
Variable
on_return
F3D
Unit
True/False
Unit Description
The return value for the OnRobot commands
[N] Length of the 3D force vector
√
F3D =
[3xN,3xNm] Force and torque values calculated in the Base Coordinate
system, in an array
[3xN,3xNm] Force and torque values calculated in the Tool Coordinate
system, in an array
[N] Force value along the X axis
[N] Force value along the Y axis
[N] Force value along the Z axis
[Nm] Length of the 3D torque vector
√
T3D =
[Nm] Torque value about the X axis
[Nm] Torque value about the Y axis
[Nm] Torque value about the Z axis
Unit Description
The return value for the OnRobot commands
[N] Length of the 3D force vector
F3D =
Description
True if Gripper has done a grip with the target
force
Fx² + Fy² + Fz²
Tx² + Ty² + Tz²
√
Fx² + Fy² + Fz²
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