System¶
Node ID, stopping, saving, resetting, clearing errors, the watchdog and the heartbeat setup: the driver's system messages a gripper host uses.
Send_CAN_ID¶
ID 11host → driver1 bytesPython: Send_CAN_ID()
Gives the driver a new node ID, 0 to 13 (the firmware accepts up to 15, but the bootloader reserves 14 and 15: a driver on one of those cannot be updated over CAN). The driver answers to the new ID at once; Send_Save_config keeps it over a power cycle and also writes it into the bootloader's board ID.
1 bytes
| Byte | Bit | Field | Type | Meaning |
|---|---|---|---|---|
| 0 | ID | unsigned 8-bit | 0 to 15 |
The driver does not answer this command.
Send_ESTOP¶
ID 0host → driver0 bytesPython: Send_ESTOP()
Stops the motor and raises the E-stop error, which stays until Send_Clear_Error.
The driver does not answer this command.
Send_Idle¶
ID 12host → driver0 bytesPython: Send_Idle()
Puts the driver in idle mode (the motor coasts or brakes, see Send_Settings).
The driver does not answer this command.
Send_Save_config¶
ID 13host → driver0 bytesPython: Send_Save_config()
Writes the current configuration (gains, limits, calibration, CAN ID, heartbeat, watchdog, gripper flag) to the EEPROM.
The driver does not answer this command.
Send_Reset¶
ID 14host → driver0 bytesPython: Send_Reset()
Resets the driver. From firmware 105 the reset lands in the bootloader, which waits 2 s for a flashing host and then starts the firmware again; this is how a firmware update begins.
The driver does not answer this command.
Send_Clear_Error¶
ID 1host → driver0 bytesPython: Send_Clear_Error()
Clears the error flags and goes to idle. An error whose cause is still present comes straight back; the gripper's E-stop error comes back while the last gripper command's E-stop bit is 1, so send a command with the bit at 0 first. A clear also ends a running gripper calibration. A calibration error is cleared only by calibrating.
The driver does not answer this command.
Send_Watchdog¶
ID 15host → driver5 bytesPython: Send_Watchdog()
Sets the watchdog: the gripper command (full or empty) and the status requests reset it, Send_Clear_Error, Send_gripper_calibrate and the setup messages do not; when the time runs out the driver reports a watchdog error and stops. 0 turns it off (the default). The action byte is stored but not acted on by this firmware: the driver always stops into its idle behaviour.
5 bytes
| Byte | Bit | Field | Type | Meaning |
|---|---|---|---|---|
| 0-3 | Time | unsigned 32-bit | ms; 0 = off | |
| 4 | Action | unsigned 8-bit | 0 idle, 1 hold, 2 brake (stored only) |
The driver does not answer this command.
Send_Heartbeat_Setup¶
ID 30host → driver4 bytesPython: Send_Heartbeat_Setup()
Sets the heartbeat interval in ms; 0 turns the heartbeat off (the default). Kept by Send_Save_config.
4 bytes
| Byte | Bit | Field | Type | Meaning |
|---|---|---|---|---|
| 0-3 | Interval | unsigned 32-bit | ms; 0 = off |
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