Urscript Commands; 2Fgp20; Tcp Configuration - OnRobot 2FGP20 User Manual

OPERATION

6.3. URScript Commands

URScript commands can be used alongside other scripts.

6.3.1. 2FGP20

When the OnRobot URCap is enabled, the following 2FGP script functions are available:
•
fgp_grip(width, force, speed)
width with a specific force and speed.
: The width that the gripper will open or close to. [mm]
width
: The force that the gripper will try to reach. [N]
force
: The speed that the gripper will try to reach. [%]
speed
•
fgp_release(width, speed)
width with a specific speed.
: The width that the gripper will open or close to. [mm]
width
: The speed that the gripper will try to reach. [%]
speed
•
fgp_vg_grip(vacuum=20)
workpiece.
: Sets the target vacuum level. The value range is 5 – 60%.
vacuum
•
fgp_vg_release()
workpiece.

6.4. TCP Configuration

TCP is the abbreviation of the Tool Center Point.
: Commands the 2FGP20 fingers to move to a specific
: Commands the 2FGP20 fingers to move to a specific
: Commands the 2FGP20 to turn on the vacuum to grip the
: Commands the 2FGP20 to turn off the vacuum to release the
TCP is a point that is in the beginning (by default) located at the
middle point of the UR's tool flange. This is an important point
during robot programming since UR's Move commands are
always referenced to a given TCP point and rotations could only
be carried out about these points.
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