Skip to content

Latest commit

 

History

History
362 lines (260 loc) · 8.6 KB

README_EN.md

File metadata and controls

362 lines (260 loc) · 8.6 KB
Raw

1 Serial port library installation

pip install pyserial

2 Case run

python demo.py

3 Interface introduction

1. Gripper information query

get_firmware_version()

  • Function: Get the main version number of the gripper firmware

  • Parameter: None

  • Return: (int) Firmware main version number

get_modified_version()

  • Function: Get the sub-version number of the gripper firmware

  • Parameter: None

  • Return: (int) Firmware sub-version number

get_gripper_Id()

  • Function: Get the gripper ID

  • Parameter: None

  • Return: (int) Gripper ID

get_gripper_baud()

  • Function: Get the baud rate of the gripper

  • Parameter: None

  • Return:(int) 0-5

    • 0: 115200
    • 1: 1000000
    • 2: 57600
    • 3: 19200
    • 4: 9600
    • 5: 4800

get_gripper_value()

  • Function: Get the current position data of the gripper
  • Parameter: None
  • Return: (int) The current position data of the gripper

get_gripper_status()

  • Function: Get the current status of the gripper
  • Parameter: None
  • Return:(int) 0-3
    • 0: Moving
    • 1: Stopped moving, no object was detected
    • 2: Stopped moving, object was detected
    • 3: After detecting that the object is clamped, the object falls

get_gripper_speed()

  • Function: Get the current speed of the gripper

  • Parameter: None

  • Return: (int) The current speed of the gripper

get_gripper_P()

  • Function: Get the P value of the gripper PID

  • Parameter: None

  • Return: (int) The P value of the gripper PID

get_gripper_I()

  • Function: Get the I value of the gripper PID

  • Parameter: None

  • Return: (int) The I value of the gripper PID

get_gripper_D()

  • Function: Get the D value of the gripper PID

  • Parameter: None

  • Return: (int) The D value of the gripper PID

get_gripper_cw()

  • Function: Get the clockwise runnable error of the gripper
  • Parameter: None
  • Return: (int) Clockwise runnable error of the gripper

get_gripper_cww()

  • Function: Get the counterclockwise runnable error of the gripper
  • Parameter: None
  • Return: (int) Counterclockwise runnable error of the gripper

get_gripper_mini_pressure()

  • Function: Get the minimum starting force of the gripper
  • Parameter: None
  • Return: (int) Minimum starting force of the gripper

get_gripper_io_open_value()

  • Function: Get the opening angle of the gripper Io
  • Parameter: None
  • Return: (int) Opening angle of the gripper Io

get_gripper_io_close_value()

  • Function: Get the closing angle of the gripper Io
  • Parameter: None
  • Return: (int) Get the closing angle of the gripper Io

get_gripper_queue_count()

  • Function: Get the amount of data in the current queue of the gripper

  • Parameter: None

  • Return: (int) The amount of data in the current queue of the gripper

get_gripper_vir_pos()

  • Function: Get the virtual position value of the gripper servo

  • Parameter: None

  • Return: (int) The virtual position value of the gripper servo

get_gripper_protection_current()

  • Function: Get the gripper clamping current

  • Parameter: None

  • Return: (int) The gripper clamping current

2 Gripper settings

set_gripper_Id(value)

  • Function: Set the gripper ID
  • Parameters:
    • value: (int) Gripper ID, value range 1-254
  • Return: (int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_baud(value)

  • Function: Set the gripper baud rate
  • Parameter:
    • value: (int) Gripper baud rate, value range 0-5
      • 0: 115200
      • 1: 1000000
      • 2: 57600
      • 3: 19200
      • 4: 9600
      • 5: 4800
  • Return: (int) 0-1
    • 0: Failed
    • 1: Successful

set_gripper_enable(value)

  • Function: Set the gripper enable state
  • Parameter:
  • value: (int) Enable state, value range 0-1
    • 0: Disabled
    • 1: Enabled
  • Return:(int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_value(value,speed)

  • Function: Set the gripper to rotate to the specified position at the specified speed
  • Parameter:
    • value: (int) Position, value range 0-100
    • speed: (int) Speed, value range 1-100
  • Return:(int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_calibration()

  • Function: Set the gripper Zero Calibration
  • Parameter: None
  • Return:(int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_P(value)

  • Function: Set the P value of the gripper PID
  • Parameters:
    • value: (int) P value, value range 0-254
  • Return: (int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_I(value)

  • Function: Set the I value of the gripper PID
  • Parameters:
    • value: (int) I value, value range 0-254
  • Return: (int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_D(value)

  • Function: Set the D value of the gripper PID
  • Parameters:
    • value: (int) D value, value range 0-254
  • Return: (int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_cw(value)

  • Function: Set the clockwise running error of the gripper

  • Parameter:

    • value: (int) Error, value range 0-16

  • Return: (int) 0-1

    • 0: Failure
    • 1: Success

set_gripper_cww(value)

  • Function: Set the counterclockwise running error of the gripper

  • Parameter:

    • value: (int) Error, value range 0-16

  • Return: (int) 0-1

    • 0: Failure
    • 1: Success

set_gripper_mini_pressure(value)

  • Function: Set the minimum starting force of the gripper
  • Parameter:
    • value: (int) Minimum starting force, value range 0-254
  • Return:(int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_torque(value)

  • Function: Set gripper torque
  • Parameter:
    • value: (int) Torque, value range 0-300
  • Return:(int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_output(value)

  • Function: Set gripper IO

  • Parameter:

    • value: (int) Gripper IO, value range 0-3
      • 0: out1 off,out2 off
      • 1: out1 on,out2 off
      • 2: out1 off,out2 on
      • 3: out1 on,out2 on

  • Return:(int) 0-1

    • 0: Failed
    • 1: Success

set_gripper_io_open_value(value)

  • Function: Set the gripper Io open position
  • Parameter:
    • value: (int) position, value range 0-100
  • Return:(int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_io_close_value(value)

  • Function: Set the gripper Io closed position
  • Parameter:
    • value: (int) position, value range 0-100
  • Return:(int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_speed(speed)

  • Function: Set the gripper speed
  • Parameters:
    • speed: (int) speed, value range 1-100
  • Return: (int) 0-1
    • 0: failed
    • 1: successful

set_abs_gripper_value(value,speed)

  • Function: Set the gripper to rotate to the specified absolute position at the specified speed
  • Parameters:
  • value: (int) position, value range 1-100
  • speed: (int) speed, value range 1-100
  • Return: (int) 0-1
    • 0: failed
    • 1: successful

set_gripper_vir_pos(value)

  • Function: Set the virtual position value of the gripper servo
  • Parameters:
    • value: (int) virtual position, value range 0-100
  • Return:(int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_protection_current(value)

  • Function: Set the gripper gripping current
  • Parameter:
    • value: (int) Virtual position, value range 1-254
  • Return:(int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_pause()

  • Function: Set the gripper to pause motion
  • Remarks: Only valid for set_abs_gripper_value()
  • Parameter: None
  • Return:(int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_resume()

  • Function: Set the gripper to resume motion
  • Remarks: Only valid for set_abs_gripper_value()
  • Parameters: None
  • Return: (int) 0-1
    • 0: Failure
    • 1: Success

set_gripper_stop()

  • Function: Set the gripper to stop moving and clear the message queue
  • Remarks: Only valid for set_abs_gripper_value()
  • Parameters: None
  • Return: (int) 0-1
    • 0: Failure
    • 1: Success