# Gripper

<div class="cmd-index" markdown>[`#Gripper`](#gripper) [`#Gripcal`](#gripcal) [`#Grippos`](#grippos) [`#Gripvel`](#gripvel) [`#Gripcur`](#gripcur) [`#Gripact`](#gripact) [`#Gripstop`](#gripstop) [`#Gripinfo`](#gripinfo)</div>

### `#Gripper` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> int: 0 or 1</span></div>

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

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### `#Gripcal` 

<div class="cmd-facts" markdown><span class="fact">Action</span><span class="fact">Enters **gripper calibration** mode</span></div>

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!`

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### `#Grippos` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> int: 0 (open) to 255 (closed)</span><span class="fact">Enters **gripper** mode</span></div>

The position setpoint; also activates the gripper, sets the action bit and goes to gripper mode.

**Response:** the current position

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### `#Gripvel` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> int: 0 to 255</span></div>

The speed setpoint of gripper moves, 50 at power-up.

**Response:** the setpoint

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### `#Gripcur` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> int: current in mA</span></div>

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

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### `#Gripact` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> int: 0 or 1</span></div>

The activate bit.

**Response:** the bit

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### `#Gripstop` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> int: 0 or 1</span></div>

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

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### `#Gripinfo` 

<div class="cmd-facts" markdown><span class="fact">Get</span></div>

Prints the gripper state: calibrated, activated, end stops, position, current.

**Response:** the report

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