OnRobot HANWHA 3FG15 User Manual page 46

Operation
• Get Command Result: (Number type). Returns result values:
0: No additional result data
1: Unknown command
2: Not screwing in
3: Timeout waiting for torque
4: Torque exceeded prematurely
5: Unable to loosen screw
6: Shank reached the end
7: Shank obstructed during move
• Get Quick Changer version: (Number type). Returns the QC version. 1 means the default
version, 2 means the high-power version.
• Get Shank Position [mm]: (Number type). Returns the current position of the shank.
• Get Current Force [N]: (Number type). Returns the current force value.
• Get Current Torque [Nm]: (Number type). Returns the current torque value.
• Get Achieved Torque [Nm]: (Number type). Returns the actual achieved torque value.
• Get Torque Gradient [Nm/rad]: (Number type). Returns the slope of the torque-angle
graph at the final stage of the tightening.
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