Gripper¶
#Gripper¶
Set/GetArgument int: 0 or 1
Whether this driver is a gripper. Save it; #Default clears it. From firmware 110 also parameter 92, which takes a write only while the driver is idle.
Response: the flag
#Gripcal¶
ActionEnters gripper calibration mode
Starts the gripper calibration: the jaws find their end stops at 500 mA; from firmware 110 each end is then read under a light 100 mA push, and 0 and 255 lie a few ticks inside the two ends. It prints nothing when it ends. After about 24 s without both end stops it gives up, uncalibrated; firmware 110 also gives up when the ends lie less than 1000 ticks apart, and starts again from the first step when Gripcal comes during a calibration. Gripinfo shows the result, and from firmware 110 parameter 93 the stroke in ticks.
Response: Gripper calibration!
#Grippos¶
Set/GetArgument int: 0 (open) to 255 (closed)Enters gripper mode
The position setpoint; also activates the gripper, sets the action bit and goes to gripper mode.
Response: the current position
#Gripvel¶
Set/GetArgument int: 0 to 255
The speed setpoint of gripper moves, 50 at power-up.
Response: the setpoint
#Gripcur¶
Set/GetArgument int: current in mA
The current limit of gripper moves, 400 mA at power-up. From firmware 109 a move uses its magnitude, at most the driver's 2800 mA (108 and older used it as sent); see the gripper manual for the safe range. From firmware 110 it is the gripper's own limit: the driver's current limit (Ilim) stays as set.
Response: the setpoint
#Gripact¶
Set/GetArgument int: 0 or 1
The activate bit.
Response: the bit
#Gripstop¶
Set/GetArgument int: 0 or 1
The gripper E-stop bit. While it is 1 the driver raises the gripper E-stop error on every control cycle: set it to 0, then Clear.
Response: the bit
#Gripinfo¶
Get
Prints the gripper state: calibrated, activated, end stops, position, current.
Response: the report
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