2F-85 & 2F-140 - Instruction Manual
4.5.3. Object detection
When the gripper grabs an object, gOBJ status will allow you to know if contact with the object was successful. This is a built-in feature
for adaptive grippers meant to be used by the robot controller (or PLC) commanding the overall application. The Object detection
feature will change the gOBJ status and can be used inside your robot program.
As stated in the previous section:
gOBJ: Only valid if gGTO = 1.
l
0x00 - Fingers are in motion towards requested position. No object detected.
l
0x01 - Fingers have stopped due to a contact while opening before requested position. Object detected.
l
0x02 - Fingers have stopped due to a contact while closing before requested position. Object detected.
l
0x03 - Fingers are at requested position. No object detected or object has been lost / dropped.
Example of contact detected with an object:
1. Set position, speed and force at maximum (full closing):
a. rPR == 0xFF, rSP == 0xFF, rFR ==0xFF,
2. Set ''go to requested'' will initiate movement :
a. rGTO == 0x01
3. Then object detection status will be "in motion"
a. gOBJ = 0x00
4. Until an object is picked, object detection status will then be "stopped due to contact while closing"
a. gOBJ = 0x02
5. The user can now assume it is holding the payload, and proceed to the next step.
Example of contact lost with an object:
1. From previous example, after an object is picked
a. gOBJ = 0x02
2. If the gOBJ status displays 0x03 after it was 0x02, user can assume contact with the object has been lost.
64
