SetVacuumThreshold_Immediate#

This is the same command as SetVacuumThreshold, but it is instantaneous, rather than queued and can be executed even when the robot is deactivated.

Syntax#

SetVacuumThreshold_Immediate(p_h,p_r)

p_h: when the negative pressure sensed is smaller than p_h, the robot reports that a part is being held. The value for this argument ranges from −100 kPa to −5 kPa.
p_r: when the negative pressure sensed is larger than p_r, the robot reports no part is being held. The value for this argument ranges from −95 kPa to 0 kPa. The value of p_r must be larger than the value of p_h by at least 5 kPa.

The default settings are applied whenever the robot is power cycled (rebooted).

By default, p_h = −40 kPa, and p_r = −30 kPa. To reset to the default values, send the command SetVacuumThreshold_Immediate(0,0).

This command can be executed in any robot state.

In cyclic protocols, the SetVacuumThreshold_Immediate command is represented by MotionCommandID 42. See Section 4.2 for more details.