OnRobot HANWHA 3FG15 User Manual page 41

Operation
Main commands
• Move: Moves the fingers to a desired diameter in raw value (without the fingertip offset)
which is needed to grip a workpiece with a given diameter. If the Wait for move checkbox
is checked, the program will wait until the fingers are in position before progressing to
the next step.
• Grip: Grips the workpiece. You can grip the part from the inside, or from the outside. In
case of outside gripping, enter 3 mm-s less, in case of inside gripping, enter 3 mm-s more
than the part's actual diameter in the diameter textbox for the force lock to occur, which
will be indicated by a clicking sound. Furthermore, you can determine the force of the
gripping here. If the Wait for grip checkbox is checked, the program will wait until the
force lock is active.
• Stop: Stops the movement of the gripper fingers.
Queries
• Get Busy State: (Boolean type). The value will be true if the fingers are moving.
• Get Grip State: (Boolean type). The value will be true if the gripper cannot reach the
given grip diameter. The force lock is not necessary in this case.
• Get Force Grip State: (Boolean type). The value will be true if the force lock is activated.
• Get Error Status: (Number type) Returns an error code, which can be found in the
Technical sheet, or returns 0 if there is no error.
• Get Diameter Raw [mm]: (Number type). Returns the opening diameter without the
fingertip offset.
• Get Diameter [mm]: (Number type). Returns the opening diameter with the fingertip
offset.
• Get Force [%]: (Number type). Returns the actual gripping force, which can be different
than the given value. Additional information can be found in the Technical sheet.
• Get Finger Position, Get Finger Length [mm], Get Fingertip Offset [mm]: (Number
type). Returns the finger position, finger length or fingertip offset respectively that was
set last time, or the device's default value, if they were never set. These setting are
independent from the robot programs, the values are stored on the device, therefore it
is highly recommended to set them in every program's initialization phase.
• Get Min Raw Diameter [mm]: (Number type). Returns the minimum opening diameter
without the fingertip offset.
• Get Max Raw Diameter [mm]: (Number type). Returns the maximum opening diameter
without the fingertip offset.
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