Feedback Variables - OnRobot VGC10 User Manual

Operation

5.6 Feedback variables

Gecko .............................................119
HEX-E/H QC ....................................119
RG2-FT ...........................................120
RG2 / RG6.......................................121
VG10 / VGC10.................................121
Gecko
Feedback Variable
gecko_distance
gecko_force
gecko_part_detected
gecko_pads_worn
on_return
HEX-E/H QC
Feedback Variable
on_return
F3D
FT_Base
FT_Tool
Fx
Fy
Fz
T3D
Tx
Ty
Tz
Unit Description
Distance between the gripper bottom part and the
mm
object
N Force applied by the gripper/robot while doing a grip
True/False True if Gripper has detected a workpiece
True if Gripper has lost a workpiece so pads needs to
True/False
be cleaned
The return value for the OnRobot commands
Unit Description
The return value for the OnRobot commands
Length of the 3D force vector
[N]
F3D = sqrt (Fx2 +Fy2 +Fz2)
Force and torque values calculated in the Base
[3xN,3xNm]
Coordinate system, in an array
Force and torque values calculated in the Tool
[3xN,3xNm]
Coordinate system, in an array
[N] Force value along the X axis
[N] Force value along the Y axis
[N] Force value along the Z axis
Length of the 3D torque vector
[Nm]
T3D = sqrt (Tx2 +Ty2 +Tz2)
[N] Torque value about the X axis
[N] Torque value about the Y axis
[N] Torque value about the Z axis
119