Errors and status bits¶
The gripper's state byte¶
Byte 3 of Respond_Gripper_data_pack, the answer to every gripper command, bits numbered from the most significant:
| Bit | Flag | Meaning |
|---|---|---|
| 7 | activated |
the activate flag is set |
| 6 | action_status |
the action bit of the last gripper command, as received (#Grippos sets it to 1); it stays 1 while the gripper holds, and the calibration does not change it. The state of a move is in object_detection |
| 5, 4 | object_detection |
bit 5 is the low bit, bit 4 the high bit: 0 moving, 1 object found while closing, 2 object found while opening, 3 at the position |
| 3 | temperature_error |
the thermistor in the windings is above the limit |
| 2 | timeout_error |
the driver's CAN watchdog ran out |
| 1 | estop_error |
the E-stop bit of a command was received |
| 0 | calibrated |
the gripper calibration is done |
The Python library's attributes are gripper_activated, gripper_action_status, gripper_object_detection,
gripper_temperature_error, gripper_timeout_error, gripper_estop_error and gripper_calibrated; library
version 1.20 assembles gripper_object_detection with its two bits swapped (1 and 2 exchanged).
The driver's error flags¶
The flags as the firmware keeps them, the line #Error prints for each, and where each sits in the two bytes of
Send_Respond_State_of_Errors (bits numbered from the most significant).
| Flag | #Error prints |
Byte, bit | Raised when |
|---|---|---|---|
Error |
In error state! |
0, 7 | any of the flags below is set (also the error bit of every CAN identifier) |
temperature_error |
Temp error |
0, 6 | the thermistor reads above #Tlim (75 °C) |
encoder_error |
Encoder error |
0, 5 | the driver's encoder does not see its magnet |
Vbus_error |
Vbus error |
0, 4 | the supply is below 9 V or above #Vmax (29 V after #Default) |
Driver_error |
Driver error (undervoltage, thermal shutdown, or overcurrent) |
0, 3 | the driver stage's fault output is active |
Velocity_error |
Velocity error |
0, 2 | the motor speed exceeds the driver's limit |
Current_error |
Current error |
0, 1 | never in this firmware; reserved |
ESTOP_error |
Received ESTOP command |
0, 0 | Send_ESTOP was received |
Calibrated (0) |
Not calibrated |
1, 7 (1 = calibrated) | the driver's motor calibration is missing |
Activated |
— | 1, 6 | the activated flag, not an error |
Watchdog_error |
Watchdog error |
1, 5 | the watchdog time passed without a valid CAN frame |
The gripper's timeout_error is the driver's Watchdog_error; the gripper's temperature_error is the driver's.
The gripper's estop_error is its own, raised by the E-stop bit of the gripper command, and is distinct from the
driver's ESTOP_error raised by Send_ESTOP.
Clearing¶
Send_Clear_Error and #Clear clear every flag, the gripper's E-stop included, and go to idle; a flag whose cause
persists is set again at once. The gripper's estop_error is raised again at every cycle while the E-stop bit of
the last gripper command (or #Gripstop) is 1: send a gripper command with the bit at 0 first, then clear. The
driver's Calibrated flag is set only by the motor calibration (#Cal).
The LED¶
The driver's status LED is inside the housing: three short flashes and a pause in normal operation, flashing every 0.5 s during the motor calibration, on steadily in error mode or while the motor is not calibrated.
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