Feedback Variables; 3Fg15 - OnRobot UR CB3 Series User Manual

OPERATION
Single
Robot program
TCP (Optional)
MoveJ (Set TCP = Active TCP)

6.5. Feedback Variables

6.5.1. 3FG15

Feedback Variable
on_return
tfg_Busy
tfg_Diameter
tfg_Grip_detected
tfg_Force_Grip_detected
40
Dual
Robot program
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
True/False True if Gripper has done a grip with the target
force
TCP (Select Gripper 1)
MoveJ (Set TCP = Active TCP)
TCP (Select Gripper 2)
MoveJ (Set TCP = OnRobot_Dual_2)