OnRobot HANWHA 3FG15 User Manual page 47

Operation
SG
Commands
• Grip: Closes the gripper on the workpiece by moving to the desired diameter. If the Wait
for move checkbox is checked, the program will stop until the gripper stops moving.
• Gentle grip: Closes the gripper on the workpiece by slowing down at the end of the
motion.
• Release: Releases the gripped workpiece by moving to the desired diameter.
• Stop: Stops the movement of the gripper.
• Initialize: The silicone type mounted on the gripper can be determined with this
command. It is recommended to put this command in the initialization phase of the
program.
• Home: Moves the gripper to the Home position, which means the position where the
silicone has the least tension. This is useful when you change the different silicone
grippers.
By clicking the Execute button, you can execute the command immediately.
Queries
• Get SG Busy State: (Boolean type). This is true when the silicone is in motion, either
inward or outward
• Get SG Initialize State: (Boolean type). The value is true if the tool was initialized.
• Get SG Error Code: (Number type). Returns an error code, which can be found in the Tech
sheet, or returns 0 if there is no error.
• Get Initialized Tool ID: (Number type). Returns the number of the mounted tool type
determined in the initialization.
• Get Width [mm]: (Number type). Returns the actual opening width.
• Get Depth [mm]: (Number type). Returns the depth of the silicone gripper, which means
the deviation in Z direction.
• Get Relative Depth [mm]: (Number type). Returns the change in depth.
• Get Static Silicone Depth [mm]: (Number type). Returns the maximum value of the
depth.
• Get Open Minimum [mm]: (Number type). Returns the minimum opening width.
• Get Open Maximum [mm (Number type). Returns the maximum opening width.
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