Programming Introduction - OnRobot RG2 User Manual

RG2 User Manual – Version 1.44
is in Newton. The variables Force2, Open2 and Close2 holds the settings for the script/functions close_2() and
open_2(), see 7.3.1 Control variables.
7.2

Programming introduction

When the RG2 gripper is powered on, it will receive its programming parameters. These parameters are stored in
the control variables; Close, Open, Force_, Close2, Open2, Force2 and they are transferred by the
program_RG2.script (see 7.3.1 Control variables). If the gripper does not receive the programming parameters
within 5 seconds, it selects its default parameters. This state of the gripper is called teach mode and is indicated
by the green flashing LED (see 7.3.2 Teach Mode).
When the programming parameters is determent, the gripper detects if a second gripper is connected. If that is
the case, the programming parameters are transferred to the connected gripper (see 7.5 Two Grippers).
The gripper is basically controlled through tool_out[0] and tool_out[1] and gives feedback through tool_in[0],
tool_out[1], analog_in[2] and analog_in[3]. The gripper can be controlled directly by tool_out[0] and tool_out[1]
(see 7.3.4 Control outputs signals), or the scripts/functions delivered by On Robot (see 7.3.3 Control
script/functions) can be used. The gripper feedback can be read directly from tool_in[0], tool_out[1], analog_in[2]
and analog_in[3] (7.4.2 Feedback input signals), or by reading the feedback values (see 7.4.1 Feedback variables).
The script that transfers the programming parameters to the gripper is included in the following robot programs
delivered by On Robot: RG2_Template.URP (see section 7.17.1 Quick Start), RG2_Dual.URP (see 7.5 Two Grippers)
and RG2_SubP.URP (see 7.6 Add RG2 to existing robot program).
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Specifications is periodically reviewed and may change without notice Copyright © 2015 – 2016 by On Robot ApS. All rights reserved