ROBOTIQ Hand-E C10 Instruction Manual page 94

Tool Inputs configuration and Object Detect status are:
Name
rq_wrist_conn_is_obj_0( )
rq_wrist_conn_is_obj_1( )
rq_wrist_conn_is_obj_2( )
rq_wrist_conn_is_obj_3( )
Single and Multiple Grippers (UCG-1.6.0 +)
All following functions require a final but optional parameter named gripper_socket. This parameter represents the gripper
identifier as defined in the installation node. By default, the value of gripper_socket is 1. The admissible values are 1, 2, 3 and 4.
Name
rq_activate_and_wait()
rq_close_and_wait()
rq_current_pos_norm()
rq_current_pos_mm()
rq_current_pos_inches()
rq_get_gripper_max_cur(current_mA)
rq_gripper_led_off()
Fingers are in motion towards requested position. No object detected.
Fingers have stopped due to a contact while opening before requested position.
Object detected opening.
Fingers have stopped due to a contact while closing before requested position.
Object detected closing.
Fingers are at requested position. No object detected or object has been lost /
dropped.
Sends the Gripper activation command. If it is already activated, nothing happens.
Note that the gripper must be activated to complete any other operation. Program
execution waits for the activation.
Moves the gripper to its fully closed position and waits until the motion is
completed to execute the next command.
Returns the current position of the fingers, normalized from 0% to 100%. Can be
used to verify that the pick is successful, by comparing the finger position when the
pick was taught with the similar-sized object.
Returns the current position of the fingers in millimeters, considering that the
PolyScope configuration has been set to use the metric system as measurement
system. Can be used to verify that the pick is successful, by comparing the finger
position when the pick was taught with the similar-sized object.
Returns the current position of the fingers in inches, considering that the
PolyScope configuration has been set to use the imperial system as measurement
system. Can be used to verify that the pick is successful, by comparing the finger
position when the pick was taught with the similar-sized object.
Returns the maximum supply current value of the appropriate gripper in mA.
Forces the LEDs to OFF status.
Robotiq Hand-E C10 Gripper Instruction Manual
Description
Description
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