Feedback Variables; 2Fgp20 - OnRobot 2FGP20 User Manual

OPERATION
As summary here is a code example:
Single
Recommended to set OnRobot_Default
TCP as the UR's Default TCP
Robot program
TCP (Optional)
MoveJ (Set TCP = Active TCP)

6.5. Feedback Variables

6.5.1. 2FGP20

Feedback Variable
fgp_Busy
fgp_Grip_Detected
fgp_vg_Release_Status
fgp_vg_Status
fgp_vg_Vacuum
fgp_Width_int
on_return
Dual
Recommended to set OnRobot_Default TCP
as the UR's Default TCP
Before each program execution make sure to
select on the OnRobot Installation panel the
right gripper that will be the first used in the
program
Robot program
Unit Description
True/False Whether the 2FGP20 is busy or not.
The gripper detects that a workpiece is gripped with
True/False
the fingers.
0 - Not released
Int 1 - Release ok
2 - Release failed
0 - Not gripped
1 - Grip detected
Int
2 - Required grip timeout
3 - Grip lost
Returns the %Vacuum achieved. The value range is
%Vacuum
0 - 60%.
Width between the inner side of the fingers of the
[mm]
gripper.
The return value of the OnRobot commands.
TCP (Select Gripper 1)
MoveJ (Set TCP = Active TCP)
TCP (Select Gripper 2)
MoveJ (Set TCP = OnRobot_Dual_2)
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