Gripper¶

Command	Kind	Argument	What it does	Response
`#Gripper`	Set/Get	int: 0 or 1	Whether this driver is a gripper. Save it; `#Default` clears it.	the flag
`#Gripcal`	Action		Starts the gripper calibration: the jaws find their end stops at 500 mA. It prints nothing when it ends; after about 24 s without both end stops it gives up, uncalibrated. Gripinfo shows the result. Enters gripper calibration mode.	`Gripper calibration!`
`#Gripinfo`	Get		Prints the gripper state: calibrated, activated, end stops, position, current.	the report
`#Gripstop`	Set/Get	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.	the bit
`#Gripact`	Set/Get	int: 0 or 1	The activate bit.	the bit
`#Gripcur`	Set/Get	int: current in mA	The current limit of gripper moves, 400 mA at power-up. The firmware does not clamp it, not even to the driver's 2800 mA; see the gripper manual for the safe range.	the setpoint
`#Gripvel`	Set/Get	int: 0 to 255	The speed setpoint of gripper moves, 50 at power-up.	the setpoint
`#Grippos`	Set/Get	int: 0 (open) to 255 (closed)	The position setpoint; also activates the gripper, sets the action bit and goes to gripper mode. Enters gripper mode.	the current position

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