OnRobot VGC10 User Manual page 75

Operation
RG2-FT
NOTE:
At program start the force/torque finger sensors are automatically
zeroed so no need to place an F/T Zero at the beginning of the program.
Please make sure that the fingers are not in contact with any obstacle
when the program is started. Otherwise the sensors will not be properly
zeroed.
RG Grip
When the RG Grip command is executed, the gripper will try to reach the specified target ( W (Width)
and F (Force)) and, if selected, Depth compensation ON and/or Automatic centering ON. The different
functions are explained below.
NOTE:
To cancel any force/torque offset, execute an F/T Zero command at
the beginning of the RG Grip command and make sure the gripper is
not in contact with any object before starting the F/T Width, otherwise
the command may not work properly.
Target
Width: The target gripping width can be set by using the
(recommended) or by typing it in manually.
When pressed, the gripper will act as if the command is executed.
Force: Set the target gripping Force (3-40 N).
Save as Target/Save Grasp button
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