OnRobot VGC10 User Manual page 120

Operation
RG2-FT
Feedback Variable
on_return
F3D
F3D_Left
F3D_Right
FT_Base
FT_Left
FT_Right
FT_Tool
Part_Width
Proximity_Left
Proximity_Right
T3D_Left
T3D_Right
T3D
Width
Unit Description
The return value for the OnRobot commands
Length of the 3D force vector
[N]
F3D = sqrt (Fx2 +Fy2 +Fz2)
Length of the 3D force vector for the left finger
[N]
sensor
Length of the 3D force vector for the right finger
[N]
sensor
Force and torque values calculated in the Base
[3xN,3xNm]
Coordinate system, in an array
[3xN,3xNm] list of {Fx,Fy,Fz,Tx,Ty,Tz} for the left finger sensor
[3xN,3xNm] list of {Fx,Fy,Fz,Tx,Ty,Tz} for the right finger sensor
Force and torque values calculated in the Tool
[3xN,3xNm]
Coordinate system, in an array
The actual value of the detected part width (-1 if it
[mm]
not applicable) measured by the proximity sensors
[mm] The left proximity (distance) sensor actual value
[mm] The right proximity (distance) sensor actual value
Length of the 3D torque vector for the left finger
[Nm]
sensor
Length of the 3D torque vector for the right finger
[Nm]
sensor
Length of the 3D torque vector
[Nm]
T3D = sqrt (Tx2 +Ty2 +Tz2)
Distance between the fingers of the Gripper
[mm]
(calculated by finger angle encoders)
2 2
F3D_Left= √���� + ����
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2
F3D_Right= √���� + ����
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2
T3D_Left= √���� + ����
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2
T3D_Right= √���� + ����
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2
+ ����
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2 2
+ ����
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2 2
+ ����
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2 2
+ ����
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120