UART commands¶
The commands a gripper needs over the driver's serial port, for the firmware release this site describes. The kind, the argument type, the mode a command enters and what it prints are read from the firmware; the descriptions are written by hand. Over UART says where the port is and how it is used.
Syntax¶
- A Set/Get command sets the value when a number follows and prints the current value either way.
- A Get command only prints.
- An Action command does something; a number after it is ignored.
- Names are case-sensitive, at most 19 characters; the number at most 19; the line ends with LF (CR before it is fine). 256000 baud, 8N1, 3.3 V.
- A name the parser does not know is answered
Unknown command.
The commands a gripper needs¶
| Command | Kind | Argument | Group |
|---|---|---|---|
#Cal |
Action | Driver setup | |
#Calibrated |
Set/Get | int | Status and utility |
#CANID |
Set/Get | int | Driver setup |
#Cbw |
Set/Get | float | Driver setup |
#Clear |
Action | Status and utility | |
#Default |
Action | Driver setup | |
#Error |
Get | Status and utility | |
#Gripact |
Set/Get | int | Gripper |
#Gripcal |
Action | Gripper | |
#Gripcur |
Set/Get | int | Gripper |
#Gripinfo |
Get | Gripper | |
#Gripper |
Set/Get | int | Gripper |
#Grippos |
Set/Get | int | Gripper |
#Gripstop |
Set/Get | int | Gripper |
#Gripvel |
Set/Get | int | Gripper |
#Help |
Action | Status and utility | |
#Ilim |
Set/Get | int | Driver setup |
#Info |
Get | Status and utility | |
#Kiiq |
Set/Get | float | Driver setup |
#Kpiq |
Set/Get | float | Driver setup |
#Kt |
Set/Get | float | Driver setup |
#LED |
Set/Get | int | Status and utility |
#Magnet |
Get | Status and utility | |
#Mode |
Get | Status and utility | |
#Reset |
Action | Status and utility | |
#Save |
Action | Driver setup | |
#Temp |
Get | Status and utility | |
#Term |
Set/Get | int | Driver setup |
#Tlim |
Set/Get | int | Driver setup |
#Vbus |
Get | Status and utility |
The driver's other commands (motion, gains, the calibration settings) are in the Spectral UART reference.
By group¶
- Gripper: gripper mode, the gripper calibration, the setpoints, the state
- Driver setup: the defaults, the motor parameters and calibration, the gains, the thermistor, the node ID, saving
- Status and utility: identity, errors, temperature, help
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