MyCobot Pro Force Control Gripper

1 Product Display

2 Product Introduction

myCobot Pro Force Control Gripper is a high-performance robot end effector designed for multi-functional grasping needs. Made of PC and PBT materials and manufactured by precision injection molding, it ensures the firmness and durability of the product. The gripping range of the gripper is 0-100 mm (default fingertip), and it supports multi-speed torque adjustment to meet the grasping needs of different forces. The rated load is 500 grams, and the repeatability accuracy is 0.5 mm, which can adapt to various robot grasping operation scenarios.

3 Compatible models

ER myCobot 320 series

ER Mercury A/B/X series

ER myCobot Pro 630

ER myCobot Pro 600

Other general robots

4 Applicable scenarios

Experimental operation: In scientific research experiments, complete the grasping and moving of test tubes, utensils, etc. to ensure the safety and accuracy of the experiment.

Educational demonstration: As a teaching tool, it helps students understand the principle of robot grasping and cultivate practical ability.

Material handling: In simulated production lines or warehouses, materials of various specifications are handled to improve work efficiency.

5 Specifications

Product Specifications

Pin sequence description

Numbers 1 and 5 connect GND and 24V, numbers 2 and 3 are for controlling IO input, numbers 6 and 7 are for IO output, and numbers 4 and 8 are for 485 communication, which is for receiving and sending instructions with the gripper

Notes: Please distinguish the line sequence according to the line mark. If the line mark is lost, detached, or forgotten, please contact our staff to cooperate in determining the line sequence. If you do not contact our staff, the gripper will be damaged due to the wrong line sequence, and the consequences will be at your own risk

5.1 Working principle

Driven by the motor, the surface of the manipulator's fingers moves back and forth in a straight line to achieve the opening or closing action. By setting the clamping torque, the impact of the workpiece is minimized, the positioning point is controllable, and the clamping is controllable.

5.2 Assembly steps

Take mycobot320 as an example, other models can refer to this step for installation Use screws and gaskets to install the clamp connector to the end flange of the robot arm

Then use screws to install the clamp on the connector

Finally, use M8 aviation wire to connect the clamp and the robot arm

5.3 Control method

• Support python, ros, serial port control
• pthon: Please jump to the Elephant Robot host product accessories use section and check python control method
• Screen IO button control
• Serial port control
• ros control

Screen control

The myCobot Pro force-controlled gripper has a screen display function, and there are buttons under the screen for easy control of the screen. By selecting the interface, you can more conveniently control the gripper and understand the gripper information. Screen information and Overall function description

Main interface

Entering the gripper main interface, we can see some real-time information of the gripper on the screen, which makes it easier to know the gripper information. The main interface mainly has the following information as shown in the figure

The main interface displays the gripper angle, speed, current, input and output IO level in real time

Setting interface

Press and hold the confirmation button for 2s in the main interface to enter the main interface

Setting interface, you can move up and down and select by pressing the button

Baud rate setting

Click Modbus in the setting interface to enter the Modbud Config interface. Click Baudrate to enter the interface, select the baud rate you want to set and click Confirm. When the color of the origin next to the baud rate changes, it proves that the setting is successful

After setting, find Exit and click to exit the current interface

IO enable setting

Setting interface selection I/O Ctrl, enter the I/O Config interface, by default, IO is enabled, if not, use IO control, you can select Disable to turn off IO control

Manual interface

Select Manual in the setting interface to enter the Manual Control interface to quickly and conveniently control the gripper

Select Quick Move to enter the gripper control interface, as shown in Figure 4.7, select Gripper Init to enter the gripper configuration interface

Open-set the gripper to open, Close-set the gripper to close, Pelease-set the gripper to disable, Hold-set the gripper to enable, Exit-exit the current interface

Select Auto Init to set the gripper zero position

Information interface

By selecting Information to enter the interface, we can see two options: Firmware and Servomotor. The former is the firmware version number. Click it to view the current firmware major and minor version numbers. The latter is to view the click information. Click it to see the ID and the main and minor versions of the motor.

Click Firmware to view the firmware version and the ID in the device ID command.

Click Servomotor to view the motor version and ID. The ID cannot be modified.

IO control

According to the above pin sequence description, find the line corresponding to OUT1 OUT2, input 24V, and when a high and a low level are input, the gripper will move. On the contrary, when a high and a low level are given, the gripper will move in the opposite direction. The IO input status can be observed on the main screen interface. When there is no IO input, it will be white, and when there is IO input, a black dot will appear.

Serial port control method

USB-485 module wiring:

Connect the 24V, GND, 485_A (T/R+, 485+), 485_B (T/R-, 485-) of the gripper end, a total of 4 wires, the power supply is a 24V DC regulated power supply, and insert the USB port of the module into the USB port of the computer

485A connected to 485 to USB module T/R+;
485B connected to 485 to USB module T/R-;
24V connected 24V DC regulated power supply positive pole;
GND connected to 24V DC regulated power supply negative pole

Serial port debugging assistant debugging:

Users can use UartAssist serial port debugging assistant, refer to the figure below to send the corresponding gripper command, CRC checksum does not need to be filled in, UartAssist serial port debugging assistant will automatically generate it.

Default configuration of the gripper serial port

• Gripper ID: 14
• Baud rate: 115200
• Data bit: 8
• Stop bit: 1
• Check bit: No check bit

Protocol usage instructions

The gripper uses a custom protocol. An instruction consists of a frame header (2byte), length (1byte), address code ID (1byte), Function code (1byte), register address (2byte), register data (2byte), check code (2byte) Let's take reading the gripper angle as an example

Frame header: 254 254

Length: Command length 08

ID: 0E, can be modified in the device, the default ID is 14, 0E represents the current ID of the gripper is 14 Function code: Identify whether the instruction is a setting or acquisition function, 06 (write operation to the register)/03 (read operation to the register).

Register address: 00 0c Gripper function corresponding register address

Register parameter: 00 00, no parameter is required in the read instruction, 00 00 can be given, and data is written to the gripper address for the parameter in the setting instruction.

CRC check: B1 C0, to ensure that the terminal device does not respond to data that has changed during the transmission process, to ensure the security and efficiency of the system. CRC check adopts the 16-bit cyclic remainder method. Verify the frame header, length, function code, register address, and register parameters in hexadecimal format to get the B1 C0 check code.

Command Overview

• Read the firmware major version number

  Command: fe fe 08 0e 03 00 01 00 00 72 51

  Function code: 03 Read operation

  Parameter: None

  Return: fe fe 08 0e 03 00 01 00 01 B2 90

  Note: Data return 00 01, return version number is 1

• Read the firmware minor version number

  Command: FE FE 08 0E 03 00 02 00 00 72 A1

  Function code: 03 Read operation

  Parameter: None

  Return: FE FE 08 0E 03 00 02 00 01 B2 60

  Note: Data return 00 01, indicating that the return version number is 1

• Set/read device ID number

  • Set

    Command: FE FE 08 0E 06 00 03 00 0E 76 BD

    Function code: 06 write operation

    Parameter: 00 0E, ID setting range (1-254)

    Return: FE FE 08 0E 06 00 03 00 01 72 FD

    Note: Success returns 00 01, failure returns 00 00, after the device ID is modified, the ID in the instruction also needs to be modified to be the same to communicate

  • Read

    Instruction: FE FE 08 0E 03 00 04 00 00 73 41

    Function code: 03 read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 04 00 0E B7 C0

    Note: Data return 00 0E, indicating the current gripper ID number

• Set/read 485 baud rate

  • Set

    Instruction: FE FE 08 0E 06 00 05 00 00 73 1D

    Function code: 06 write operation

    Parameter: parameter 00 00, 0-115200, 1-1000000, 2-57600, 3-19200, 4-9600, 5-4800, If set to 1000000, the parameter is changed to 00 01

    Return: FE FE 08 0E 06 00 05 00 01 72 FD

    Note: Success returns 00 01, failure returns 00 00

  • Read

    Command: FE FE 08 0E 03 00 06 00 00 B3 E0

    Function code: 03 read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 06 00 00 B3 E0

    Note: Return data 00 00, the baud rate value corresponding to the setting parameter

• Set the gripper enable state

  Command: FE FE 08 0E 06 00 0A 00 00 B0 EC

  Function code: 06 write operation

  Parameter: 00 00, 00 means disconnect enable, 00 01 means enable

  Return: FE FE 08 0E 06 00 0A 00 01 70 2D

  Note: Success returns 00 01, failure returns 00 00

• Set/read the gripper angle

  • Set

    Command: FE FE 08 0E 06 00 0B 00 64 9B BC

    Function code: 06 write operation

    Parameter: Parameter 00 64, set the angle to fully open

    Return: FE FE 08 0E 06 00 0B 00 01 B0 7C

    Mark: Success returns 00 01, failure returns 00 00

  • Read

    Command: FE FE 08 0E 03 00 0C 00 00 B1 C0

    Function code: 03 Read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 0C 00 64 5A C1

    Mark: Return data 00 64, indicating that the current angle is 100, fully open state

• Set the gripper zero position

  Command: FE FE 08 0E 06 00 0D 00 00 71 5D

  Function code: 06 Write operation

  Parameter: None

  Return: FE FE 08 0E 06 00 0D 00 01 B1 9C

  Mark: Success returns 00 01, failure returns 00 00

  Note: When setting the zero position, the gripper will move by itself. If there is an object blocking the movement, the setting will fail. Please check whether there are any obstacles around the gripper before setting.

• Read the gripper clamping status

  Command: FE FE 08 0E 03 00 0E 00 00 71 61

  Function code: 03 Read operation

  Parameter: None

  Return: FE FE 08 0E 03 00 0E 00 01 B1 A0 Mark: 00 01, return data 0 is moving, 1 is stopped and no clamping is detected, 2 is stopped and clamping is detected, 3 is detected and the object falls

• Set/read the gripper P value

  • Set

    Command: FE FE 08 0E 06 00 0F 00 64 5A FD

    Function code: 06 Write operation

    Parameter: Parameter 00 64, set the P value 100, setting range (1-150)

    Return: FE FE 08 0E 06 00 0F 00 01 71 3D

    Note: Success returns 00 01, failure returns 00 00

  • Read

    Command: FE FE 08 0E 03 00 10 00 00 77 01

    Function code: 03 Read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 10 00 64 9C 00

    Note: Return data 00 64, indicating that the current P value is 100

• Set/read the gripper D value

  • Set

    Command: FE FE 08 0E 06 00 11 00 64 5C 9D

    Function code: 06 Write operation

    Parameter: Parameter 00 64, set the D value 100, setting range (1-150)

    Return: FE FE 08 0E 06 00 11 00 01 77 5D

    Note: Success returns 00 01, failure returns 00 00

    If the gripper shakes, the D value can be appropriately increased

  • Read

    Command: FE FE 08 0E 03 00 12 00 00 B7 A0

    Function code: 03 Read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 12 00 64 5C A1

    Note: Return data 00 64, indicating that the current D value is 100

• Set/read gripper I value

  • Set

    Command: FE FE 08 0E 06 00 13 00 00 77 3D

    Function code: 06 Write operation

    Parameter: Parameter 00 00, set I value to 0, setting range (1-150)

    Return: FE FE 08 0E 06 00 13 00 01 B7 FC

    Note: Success returns 00 01, failure returns 00 00

  • Read Command: FE FE 08 0E 03 00 14 00 00 B6 40

    Function code: 03 Read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 14 00 00 B6 40

    Note: Return data 00 00, indicating that the current I value is 0

• Set/read the clockwise runnable error of the gripper

  • Set

    Command: FE FE 08 0E 06 00 15 00 01 B6 1C

    Function code: 06 Write operation

    Parameter: Parameter 00 01, setting value is 1, setting range (0-16)

    Return: FE FE 08 0E 06 00 15 00 01 B6 1C

    Note: Success returns 00 01, failure returns 00 00

  • Read

    Command: FE FE 08 0E 03 00 16 00 00 76 E1

    Function code: 03 Read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 16 00 01 B6 20

    Note: Return data 00 01, indicating that the current value is 1

• Set/read the clockwise runnable error of the gripper

  • Set

    Command: FE FE 08 0E 06 00 17 00 01 76 BD

    Function code: 06 Write operation

    Parameter: Parameter 00 01, setting value is 1, setting range (0-16)

    Return: FE FE 08 0E 06 00 17 00 01 76 BD

    Note: Success returns 00 01, failure returns 00 00

  • Read

    Command: FE FE 08 0E 03 00 18 00 00 B5 80

    Function code: 03 Read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 18 00 01 75 41

    Note: Return data 00 01, indicating that the current value is 1

• Set/read the minimum starting force of the gripper

  • Set

    Command: FE FE 08 0E 06 00 19 00 18 7F 1D

    Function code: 06 Write operation

    Parameter: 00 18

    Return: FE FE 08 0E 06 00 19 00 01 B5 DC

    Note: Success returns 00 01, failure returns 00 00

  • Read

    Command: FE FE 08 0E 03 00 1A 00 00 75 21

    Function code: 03 Read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 1A 00 18 7F 21

    Note: Return data 00 18, indicating that the current value is 24

• Set/read torque

  • Set

    Command: FE FE 08 0E 06 00 1B 00 64 F8 BC

    Function code: 06 Write operation

    Parameter: 00 64 Set the torque to 100, parameter range (0-100)

    Return: FE FE 08 0E 06 00 1B 00 01 75 7D

    Note: Success returns 00 01, failure returns 00 00

  • Read

    Command: FE FE 08 0E 03 00 1C 00 00 74 C1

    Function code: 03 Read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 1C 01 2C 39 C1

    Note: Return data 01 2C, indicating that the current value is 300, the greater the torque, the greater the current, and the gripper strength will also increase

• io output setting

  Command: FE FE 08 0E 06 00 1D 00 10 78 5D

  Function code: 06 Write operation

  Parameter: 00 10 Set IO output is 10, parameter range (00, 01, 10, 11)

  Return: FE FE 08 0E 06 00 1D 00 01 74 9D

  Note: Success returns 00 01, failure returns 00 00

• Set io opening angle

  • Set

    Command: FE FE 08 0E 06 00 1E 00 32 61 2D

    Function code: 06 Write operation

    Parameter: 00 32 Set IO opening angle to 50, parameter range (0-100)

    Return: FE FE 08 0E 06 00 1E 00 01 74 6D

    Note: Success returns 00 01, failure returns 00 00

  • Read

    Command: FE FE 08 0E 03 00 22 00 00 B8 A0

    Function code: 03 Read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 22 00 32 6D 21

    Note: 00 32 Data return is 50 degrees

• Set io closing angle

  • Set

    Command: FE FE 08 0E 06 00 1F 00 00 74 FD

    Function code: 06 Write operation

    Parameter: 00 32 Set IO closing angle to 0, parameter range (0-100)

    Return: FE FE 08 0E 06 00 1F 00 01 B4 3C

    Note: Success returns 00 01, failure returns 00 00

  • Read

    Command: FE FE 08 0E 03 00 23 00 00 78 F1

    Function code: 03 Read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 23 00 00 78 F1

    Note: 00 00 data return is 0 degrees

• Set/read the gripper speed

  • Set

    Command: FE FE 08 0E 06 00 20 00 32 AD 4C

    Function code: 06 Write operation

    Parameter: 00 32 Set the speed to 50, parameter range (1-100)

    Return: FE FE 08 0E 06 00 20 00 01 B8 0C

    Note: Success returns 00 01, failure returns 00 00

  • Read

    Command: FE FE 08 0E 03 00 21 00 00 B8 50

    Function code: 03 Read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 21 00 32 6D D1

    Note: 00 32 data return is 50

• Set absolute angle Command: FE FE 08 0E 06 00 24 00 64 52 8D

  Function code: 06 Write operation

  Parameter: 00 64 Set absolute angle to 100, parameter range (0-100)

  Return: FE FE 08 0E 06 00 24 00 01 79 4D

  Note: Success returns 00 01, failure returns 00 00 Due to the long response time, if the user keeps sending this command, it will be put into the queue and executed one by one. The absolute angle will wait for the gripper to move to the specified position before returning the command. If there is an object blocking the movement during the movement, the gripper cannot move to the specified position and the failure command will be returned after the waiting timeout

• Pause movement

  Command: FE FE 08 0E 06 00 25 00 00 79 DD

  Function code: 06 Write operation

  Parameter: None

  Return: FE FE 08 0E 06 00 25 00 01 B9 1C

  Mark: Success returns 00 01, failure returns 00 00

  Pause motion acts on setting absolute angle. After sending this command, the absolute angle will not be executed from the queue Command

• Resume motion

  Command: FE FE 08 0E 06 00 26 00 00 79 2D

  Function code: 06 Write operation

  Parameter: None

  Return: FE FE 08 0E 06 00 26 00 01 B9 EC

  Mark: Success returns 00 01, failure returns 00 00 Resume motion acts on setting absolute angle. This command can resume the execution of the absolute angle queue

• Stop motion

  Command: FE FE 08 0E 06 00 27 00 00 B9 7C

  Function code: 06 Write operation

  Parameter: None

  Return: FE FE 08 0E 06 00 27 00 01 79 BD

  Note: Success returns 00 01, failure returns 00 00 Stop motion acts on the absolute angle, this instruction will clear the absolute instruction queue

• Get the amount of data in the current queue

  Instruction: FE FE 08 0E 03 00 28 00 00 BA 80

  Function code: 03 Read operation

  Parameter: None

  Return: FE FE 08 0E 03 00 28 00 00 BA 80

  Note: 00 00, indicating that the number of instructions in the absolute angle queue is 0 This instruction acts on setting the absolute angle, and this instruction can get the number of instructions in the absolute angle queue

• Set the virtual position value of the servo

  • Set

    Command: FE FE 08 0E 06 00 29 00 08 BC 1C

    Function code: 06 Write operation

    Parameter: 00 08 Set the gripper position error range, parameter range (0-254)

    Return: FE FE 08 0E 06 00 29 00 01 BA DC

    Note: Success returns 00 01, failure returns 00 00

  • Read

    Command: FE FE 08 0E 03 00 2A 00 00 7A 21

    Function code: 03 Read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 2A 00 08 BC 20

    Note: 00 08 Data return 8 The default value is 8. The larger the virtual position setting, the lower the accuracy of the gripper position determination

• Set/read gripping current

  • Set

    Command: FE FE 08 0E 06 00 2B 00 FE 3A 3D

    Function code: 06 Write operation

    Parameter: 00 FE Set gripping current to 254, parameter range (0-254)

    Return: FE FE 08 0E 06 00 2B 00 01 7A 7D

    Note: Success returns 00 01, failure returns 00 00

  • Read

    Command: FE FE 08 0E 03 00 2C 00 00 7B C1

    Function code: 03 Read operation

    Parameter: None

    Return: FE FE 08 0E 03 00 2C 00 FE FB 40

    Note: 00 FE Data return 254, when setting the torque, the current of the clamped object will adapt accordingly. This command can set the clamping current by yourself.

ros control method

Usage environment

Linux Ubuntu20.04 ROS Noetic, for specific environment construction content, please refer to ROS environment construction

pro_gripper_ros package installation

pro_gripper_ros is a ROS package launched by ElephantRobotics, which is compatible with its myGripper F100 force-controlled gripper.

Project address: http://github.com/elephantrobotics/pro_gripper_ros

Note: Before installing the package, please ensure that you have a ROS workspace. The default ROS workspace is catkin_ws.

cd ~/catkin_ws/src # Enter the src folder in the workspace
# Clone the code on github
git clone https://github.com/elephantrobotics/pro_gripper_ros.git
cd .. # Return to the workspace
catkin_make # Build the code in the workspace
cd ..
source devel/setup.bash # Add environment variables

Example Use

Open the terminal command line and run:

roslaunch pro_gripper_f100 force_gripper_slider.launch

Open rviz and a slider component, you will see the following interface:

Then you can control the model in rviz by dragging the slider to open or close it. If you want the real gripper to open or close with the model, you need to open another terminal command line and run:

# Make sure to grant serial port permissions before running. The default serial port is /dev/ttyACM0 and the baud rate is 115200. You can modify it according to the actual serial port.
rosrun pro_gripper_f100 force_gripper_slider.py _port:=/dev/ttyACM0 _baud:=115200

6 Case Studies

Mycobot320 force-controlled gripper use case, More case content

C3 force-controlled gripper use case

myCobot pro630 force-controlled gripper use case