Feedback Variables; Feedback Input Signals; Digital Feedback; Analog Feedback - OnRobot RG2 User Manual

7.4.1

Feedback variables

Feedback variable
grip_detected
lost_grip
measure_width
7.4.2

Feedback input signals

The RG2 feedback can be read directly from the input signals tool_in[0], tool_out[1], analog_in[2] analog_in[3].
Digital feedback cover the functionality of tool_in[0], tool_out[1]. And Analog feedback covers analog_in[2]
and analog_in[3].
7.4.2.1

Digital feedback

Use DI8 to detect if the gripper grabbed a work piece or
stopped at a given position.
DI9 will go LO (Busy) when the gripper is receiving
programming parameters, moving or changing force.
7.4.2.2

Analog feedback

AI2 outputs a voltage corresponding to the gripper width.
* Due to the gripper analog output
resistance (10kΩ), the analog
feedback voltage will be affected by
the robot input resistance. For the robots from Universal Robots, the input resistance is 15kΩ @ 0V:10V, that
result in a maximum input voltage of 5V ∙
of 110mm.
The actual width can be calculated by
7.4.3

LED feedback

The LED light on the gripper is used
for status indication.
Specifications is periodically reviewed and may change without notice
Unit
True/False
True/False
[mm]
Analog Feedback
Actual Width @ 0V:10V
15kΩ
= 3.0V @ 0V: 10V which correspond to the maximum width
10kΩ+15kΩ
voltage
∙ 110mm.
maximum input voltage
LED feedback
20
RG2 User Manual – Version 1.44
Description
True if gripper has detected a work piece
True if gripper has dropped a work piece
Width between the fingers of the gripper
Digital status Feedback
Position Reached
Force Reached
Gripper Busy
Gripper Ready
UR Input Voltage
AI2 0...3.0V*
LED status
Constant red
Flashing green
Constant green
Constant orange
Flashing red/green
Copyright © 2015 – 2016 by On Robot ApS. All rights reserved
Tool Inputs
0 1
LO -
HI -
- LO
- HI
Width
0...110mm
Gripper status
Initializing
Teach mode (ready)
Programmed (ready)
Busy
Error code