Control Outputs Signals; Gripper Feedback - OnRobot RG2 User Manual

With the new Script highlighted, go to the Command tap, click on the keyboard icon.
When the keyboard appear type "close()" or "open()". Press Play
robot execute the added function, the RG2 will open or close.
7.3.4

Control outputs signals

The RG2 gripper can be controlled directly through tool_out[0] and tool_out[1]. How the gripper will response
to the output tool_out[0] and tool_out[1], is determent by the control variables Close, Open, Force_, Close2,
Open2 and Force2:
Tool outputs
0 1
False False
True False
False True
True True
If the gripper is controlled directly through tool_out[0] and tool_out[1]. The robot will execute the next
command in the program tree before the gripper has moved. If the robot should not continue executing, the
control script/functions could be used (see 7.3.3 Control script/functions).
7.4

Gripper feedback

As with the control of the RG2 gripper, the feedback can be read directly from the input signals tool_in[0],
tool_out[1], analog_in[2] and analog_in[3], but the feedback could also be read from the feedback variables
grip_detected, lost_grip and measure_width.
Specifications is periodically reviewed and may change without notice
Gripper response
Width Force
Open Force_
Close Force_
Open2 Force2
Close2 Force2
to execute the robot program. When the
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RG2 User Manual – Version 1.44