Gripper Control; Control Variables; Teach Mode; Control Script/Functions - OnRobot RG2 User Manual

7.3

Gripper control

7.3.1

Control variables

The control variables Close, Open, Force_, Close2, Open2 and Force2 holds the programming parameters that
are transferred to the gripper in the program_RG2.script.
Control variable
Open
Close
Force_
Open2
Close2
Force2
Changing the variable does not affect the gripper before the program_RG2.script is executed.
7.3.2

Teach Mode

When the robot is turned on, the gripper can be used without programming it first. Use the tool output I/O's.
The table to the right shows the preset configuration.
1) Go to the I/O screen on the teach pendant
2) Turn on 24V in the tool section, wait 5 seconds
3) Use tool output 0 to move the gripper
4) And tool output 1 to select High or Low Force
7.3.3

Control script/functions

The RG2 gripper can be controlled directly through tool_out[0] and tool_out[1] (see 7.3.4 Control outputs
signals). The typical use case is that the robot should wait until the gripper is done with operation. That
functionality is implemented in a couple of script functions delivered by On Robot.
A table with the control script/functions for single gripper operation is shown in the below table:
Script
open.script
close.script
open2.script
close2.script
Specifications is periodically reviewed and may change without notice
min max
0 110
0 110
3 40
0 110
0 110
3 40
Function Width
open() Open
close() Close
open2() Open2
close2() Close2
unit resolution
[mm] 0.1
[mm] 0.1
[N]
[mm] 0.1
[mm] 0.1
[N]
Teach Mode
Tool Outputs
Open Gripper (110mm)
Close Gripper (0mm)
High Force (40N)
Low Force (5N)
Force
Force_
Force_
Force2
Force2
15
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RG2 User Manual – Version 1.44
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