{ "product": "SSG-48 gripper", "firmware": "V107", "commit": "2e7febc4de63", "byte_order": "big-endian", "bitrate": 1000000, "commands": [ { "key": "IN_GRIPPER_DATA_PACK", "id": 61, "name": "Send_gripper_data_pack", "description": "The gripper command, for a driver set up as a gripper (`#Gripper 1`, saved). Position, speed and the current limit of the move, plus the activate, action and E-stop bits. A move is carried out only while the gripper is calibrated, activated and the action bit is 1. An empty frame (0 bytes) only asks for the state. The answer is sent before the driver acts on the frame, so it carries the state from before it. While the gripper calibration runs, send only the empty frame: a full one ends the calibration.", "forms": [ { "direction": "host", "length": 5, "remote": false, "title": "command", "fields": [ { "name": "Position", "byte": 0, "size": 1, "bits": null, "width": 8, "signed": false, "float": false, "lsb_first": false, "meaning": "0 fully open, 255 fully closed" }, { "name": "Speed", "byte": 1, "size": 1, "bits": null, "width": 8, "signed": false, "float": false, "lsb_first": false, "meaning": "0 slowest, 255 fastest" }, { "name": "Current", "byte": 2, "size": 2, "bits": null, "width": 16, "signed": true, "float": false, "lsb_first": false, "meaning": "current limit of the move in mA, the grip force; not clamped by the firmware, see Force and speed for the safe range" }, { "name": "Activate", "byte": 4, "size": 1, "bits": [ 7 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "1 activate the gripper, 0 deactivate" }, { "name": "Action", "byte": 4, "size": 1, "bits": [ 6 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "1 go to the position, 0 idle" }, { "name": "E-stop", "byte": 4, "size": 1, "bits": [ 5 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "1 raises the gripper E-stop error, again at every cycle while the last command's bit is 1" }, { "name": "Release direction", "byte": 4, "size": 1, "bits": [ 4 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "read by the firmware but not used" } ] }, { "direction": "host", "length": 0, "remote": false, "title": "status poll", "fields": [] } ] }, { "key": "OUT_GRIPPER_DATA_PACK", "id": 60, "name": "Respond_Gripper_data_pack", "description": "The driver's answer to Send_gripper_data_pack: position, measured current, and the state bits. Python attributes `gripper_position`, `gripper_current`, `gripper_activated`, `gripper_action_status`, `gripper_object_detection`, `gripper_temperature_error`, `gripper_timeout_error`, `gripper_estop_error`, `gripper_calibrated`.", "forms": [ { "direction": "driver", "length": 4, "remote": false, "title": "driver feedback", "fields": [ { "name": "gripper_position", "byte": 0, "size": 1, "bits": null, "width": 8, "signed": false, "float": false, "lsb_first": false, "meaning": "0 fully open, 255 fully closed" }, { "name": "gripper_current", "byte": 1, "size": 2, "bits": null, "width": 16, "signed": true, "float": false, "lsb_first": false, "meaning": "measured current in mA" }, { "name": "gripper_activated", "byte": 3, "size": 1, "bits": [ 7 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "1 activated" }, { "name": "gripper_action_status", "byte": 3, "size": 1, "bits": [ 6 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "the action bit of the last command, as received; stays 1 while holding, not changed by the calibration" }, { "name": "gripper_object_detection", "byte": 3, "size": 1, "bits": [ 5, 4 ], "width": 2, "signed": false, "float": false, "lsb_first": true, "meaning": "bit 5 is the low bit, bit 4 the high bit: 0 moving, 1 object detected while closing, 2 object detected while opening, 3 at the position" }, { "name": "gripper_temperature_error", "byte": 3, "size": 1, "bits": [ 3 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "" }, { "name": "gripper_timeout_error", "byte": 3, "size": 1, "bits": [ 2 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "" }, { "name": "gripper_estop_error", "byte": 3, "size": 1, "bits": [ 1 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "" }, { "name": "gripper_calibrated", "byte": 3, "size": 1, "bits": [ 0 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "1 calibrated" } ] } ] }, { "key": "IN_GRIPPER_CALIB", "id": 62, "name": "Send_gripper_calibrate", "description": "Starts the gripper calibration (the jaws find their end stops). Needed after every power-up. It has no answer: poll with empty Send_gripper_data_pack frames until the calibrated bit is 1, and send nothing else meanwhile, since a full gripper command or Send_Clear_Error ends the calibration. With an error active the request is dropped: clear first.", "forms": [ { "direction": "host", "length": 0, "remote": false, "title": "command", "fields": [] } ] }, { "key": "IN_CAN_ID", "id": 11, "name": "Send_CAN_ID", "description": "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.", "forms": [ { "direction": "host", "length": 1, "remote": false, "title": "command", "fields": [ { "name": "ID", "byte": 0, "size": 1, "bits": null, "width": 8, "signed": false, "float": false, "lsb_first": false, "meaning": "0 to 15" } ] } ] }, { "key": "IN_ESTOP", "id": 0, "name": "Send_ESTOP", "description": "Stops the motor and raises the E-stop error, which stays until Send_Clear_Error.", "forms": [ { "direction": "host", "length": 0, "remote": false, "title": "command", "fields": [] } ] }, { "key": "IN_IDLE", "id": 12, "name": "Send_Idle", "description": "Puts the driver in idle mode (the motor coasts or brakes, see Send_Settings).", "forms": [ { "direction": "host", "length": 0, "remote": false, "title": "command", "fields": [] } ] }, { "key": "IN_SAVE_CONFIG", "id": 13, "name": "Send_Save_config", "description": "Writes the current configuration (gains, limits, calibration, CAN ID, heartbeat, watchdog, gripper flag) to the EEPROM.", "forms": [ { "direction": "host", "length": 0, "remote": false, "title": "command", "fields": [] } ] }, { "key": "IN_RESET", "id": 14, "name": "Send_Reset", "description": "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.", "forms": [ { "direction": "host", "length": 0, "remote": false, "title": "command", "fields": [] } ] }, { "key": "IN_CLEAR_ERROR", "id": 1, "name": "Send_Clear_Error", "description": "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.", "forms": [ { "direction": "host", "length": 0, "remote": false, "title": "command", "fields": [] } ] }, { "key": "IN_WATCHDOG_TIMEOUT", "id": 15, "name": "Send_Watchdog", "description": "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.", "forms": [ { "direction": "host", "length": 5, "remote": false, "title": "command", "fields": [ { "name": "Time", "byte": 0, "size": 4, "bits": null, "width": 32, "signed": false, "float": false, "lsb_first": false, "meaning": "ms; 0 = off" }, { "name": "Action", "byte": 4, "size": 1, "bits": null, "width": 8, "signed": false, "float": false, "lsb_first": false, "meaning": "0 idle, 1 hold, 2 brake (stored only)" } ] } ] }, { "key": "HEARTBEAT_SETUP", "id": 30, "name": "Send_Heartbeat_Setup", "description": "Sets the heartbeat interval in ms; 0 turns the heartbeat off (the default). Kept by Send_Save_config.", "forms": [ { "direction": "host", "length": 4, "remote": false, "title": "command", "fields": [ { "name": "Interval", "byte": 0, "size": 4, "bits": null, "width": 32, "signed": false, "float": false, "lsb_first": false, "meaning": "ms; 0 = off" } ] } ] }, { "key": "OUT_IN_PING", "id": 10, "name": "Send_Respond_Ping", "description": "Asks the driver to answer with an empty frame, to see that it is on the bus.", "forms": [ { "direction": "host", "length": 0, "remote": true, "title": "status request (RTR)", "fields": [] }, { "direction": "driver", "length": 0, "remote": false, "title": "reply", "fields": [] } ] }, { "key": "OUT_IN_TEMPERATURE_CAN", "id": 23, "name": "Send_Respond_Temperature", "description": "Asks for the thermistor temperature. Meaningful only with the thermistor enabled (`#Term 1`).", "forms": [ { "direction": "host", "length": 0, "remote": true, "title": "status request (RTR)", "fields": [] }, { "direction": "driver", "length": 2, "remote": false, "title": "reply", "fields": [ { "name": "temperature", "byte": 0, "size": 2, "bits": null, "width": 16, "signed": true, "float": false, "lsb_first": false, "meaning": "\u00b0C" } ] } ] }, { "key": "OUT_IN_VOLTAGE_CAN", "id": 24, "name": "Send_Respond_Voltage", "description": "Asks for the supply voltage.", "forms": [ { "direction": "host", "length": 0, "remote": true, "title": "status request (RTR)", "fields": [] }, { "direction": "driver", "length": 2, "remote": false, "title": "reply", "fields": [ { "name": "voltage", "byte": 0, "size": 2, "bits": null, "width": 16, "signed": false, "float": false, "lsb_first": false, "meaning": "mV" } ] } ] }, { "key": "OUT_IN_DEVICE_INFO_CAN", "id": 25, "name": "Send_Respond_Device_Info", "description": "Asks for the driver's identity: hardware version, batch date and serial number from the EEPROM, and the firmware release (from firmware 105 on this is the build's own version; before, a value from the EEPROM).", "forms": [ { "direction": "host", "length": 0, "remote": true, "title": "status request (RTR)", "fields": [] }, { "direction": "driver", "length": 7, "remote": false, "title": "reply", "fields": [ { "name": "HARDWARE_VERSION", "byte": 0, "size": 1, "bits": null, "width": 8, "signed": false, "float": false, "lsb_first": false, "meaning": "PCB revision" }, { "name": "BATCH_DATE", "byte": 1, "size": 1, "bits": null, "width": 8, "signed": false, "float": false, "lsb_first": false, "meaning": "production batch" }, { "name": "SOFTWARE_VERSION", "byte": 2, "size": 1, "bits": null, "width": 8, "signed": false, "float": false, "lsb_first": false, "meaning": "firmware release, e.g. 107" }, { "name": "SERIAL_NUMBER", "byte": 3, "size": 4, "bits": null, "width": 32, "signed": false, "float": false, "lsb_first": false, "meaning": "serial number" } ] } ] }, { "key": "OUT_IN_STATE_OF_ERRORS_CAN", "id": 26, "name": "Send_Respond_State_of_Errors", "description": "Asks for every error flag and the calibrated, activated and watchdog states.", "forms": [ { "direction": "host", "length": 0, "remote": true, "title": "status request (RTR)", "fields": [] }, { "direction": "driver", "length": 2, "remote": false, "title": "reply", "fields": [ { "name": "error", "byte": 0, "size": 1, "bits": [ 7 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "any error is active" }, { "name": "temperature_error", "byte": 0, "size": 1, "bits": [ 6 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "motor over the temperature limit" }, { "name": "encoder_error", "byte": 0, "size": 1, "bits": [ 5 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "magnet not detected or misaligned" }, { "name": "vbus_error", "byte": 0, "size": 1, "bits": [ 4 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "supply voltage outside the limits" }, { "name": "driver_error", "byte": 0, "size": 1, "bits": [ 3 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "the MOSFET driver reports undervoltage, thermal shutdown or overcurrent" }, { "name": "velocity_error", "byte": 0, "size": 1, "bits": [ 2 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "speed over the limit" }, { "name": "current_error", "byte": 0, "size": 1, "bits": [ 1 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "reserved; never set by this firmware" }, { "name": "estop_error", "byte": 0, "size": 1, "bits": [ 0 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "Send_ESTOP was received" }, { "name": "calibrated", "byte": 1, "size": 1, "bits": [ 7 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "the motor is calibrated" }, { "name": "activated", "byte": 1, "size": 1, "bits": [ 6 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "the controller is activated" }, { "name": "watchdog_error", "byte": 1, "size": 1, "bits": [ 5 ], "width": 1, "signed": false, "float": false, "lsb_first": false, "meaning": "the watchdog ran out" } ] } ] }, { "key": "OUT_HEARTBEAT", "id": 9, "name": "Respond_Heartbeat", "description": "The frame the driver sends on its own at the heartbeat interval (Send_Heartbeat_Setup); empty. Off by default. Any other frame the driver sends resets the heartbeat timer, so a driver that answers motion commands at a high rate never sends a heartbeat.", "forms": [ { "direction": "driver", "length": 0, "remote": false, "title": "driver feedback", "fields": [] } ] } ] }