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). From firmware 110 each end is read under a light 100 mA push after the 500 mA one, and 0 and 255 lie a few ticks inside the two ends; the gripper stays uncalibrated when the ends lie less than 1000 ticks apart, and Gripcal during a calibration starts it again from its first step. Parameter 93 then gives 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.
Response: the setpoint
#Gripcur¶
Set/GetArgument int: current in mA
The current limit of gripper moves. From firmware 109 a gripper move uses its magnitude and stops at 2800 mA; 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.
Response: the bit
#Gripinfo¶
Get
Prints the gripper state: whether the driver is a gripper, calibrated, activated, the position, speed and current setpoints, the E-stop, action and object-detection status, and the end stops.
Response: the report
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