Gripper Control

First install and connect the gripper onto the robot arm. Different types of gripper is compatible with different types of robots. Refer to 2.8 Accessories for more information.

Notice:

For MyCobot 280, the adaptive gripper is attached to Atom.

The electric gripper is attached to 495 port.

* MyCobot 280-m5 is not compatible with electric gripper, and MyCobot 320-m5 is only compatible with electric gripper.

myPalletizer 260

Simple Demo

from pymycobot.mypalletizer260 import MyPalletizer260
from pymycobot.genre import Angle
import time
#Enter the above code to import the packages required by the project

# initiate MyPalletizer260, M5 version 
mc = MyPalletizer260("COM3", 115200)
# PI version 
# mc = MyPalletizer260("COM3", 115200)

# let joint2 move to 30 degree at the speed of 50
mc.send_angle(2,30,50)
# waite for 2 seconds
time.sleep(2)

#set a variable num, and then set a loop
num = 5
while num > 0:
    #let gripper open at the speed of 70
    mc.set_gripper_state(0,70)
    # waite for 2 seconds
    time.sleep(2)
    # let gripper close at the speed of 70
    mc.set_gripper_state(1, 70)
    # waite for 2 seconds
    time.sleep(2)
    num -= 1

mechArm 270

Controlling Gripper

is_gripper_moving( )

Function: Determine whether the gripper is running
return value:
- 0: Indicates that the gripper of the robot arm is not running
- 1: Indicates that the gripper of the robot arm is running
- -1: indicates an error

set_gripper_state(flag, speed, _type_1=None, is_torque=None)

function: Adaptive gripper enable
Parameters:
- flag (int): 0 - open 1 - close, 254 - release
- speed (int): 1 ~ 100
- _type_1 (int):
  - 1 : Adaptive gripper (default state is 1)
  - 2 : A nimble hand with 5 fingers
  - 3 : Parallel gripper
  - 4 : Flexible gripper
- is_torque (int): Whether the gripper is force-controlled. This parameter can be omitted if no type parameter is specified. (Note: This parameter is only supported when the end-device Atom firmware version ≥ 1.3)
  - 0: Non-force-controlled gripper
  - 1: Force-controlled gripper
Return value：
- 1: completed

set_gripper_value(gripper_value, speed, gripper_type=None, is_torque=None)

function: Set the gripper value
Parameters:
- gripper_value (int): 0 ~ 100
- speed (int): 1 ~ 100
- gripper_type (int):
  - 1 : Adaptive gripper (default state is 1)
  - 3 : Parallel gripper
  - 4 : Flexible gripper
- is_torque (int): Whether the gripper is force-controlled. This parameter can be omitted if no type parameter is specified. (Note: This parameter is only supported when the end-device Atom firmware version ≥ 1.3)
  - 0: Non-force-controlled gripper
  - 1: Force-controlled gripper
Return value：
- 1: completed

get_gripper_value(gripper_type=None)

Function: Get the current position data information of the gripper
Parameter Description:
- gripper_type: Gripper type, the default is adaptive gripper
  - 1: Adaptive gripper
  - 3: Parallel jaws
  - 4: Flexible gripper
Return value: Gripper data information

set_eletric_gripper(status)

Function: Set gripper mode (only for 350)
Parameter description: status: 1 means the clamping jaw is closed, 0 means the clamping jaw is open.
Return value: 1

set_gripper_mode(status)

Function: Set gripper mode
Parameter description: status: 1 transparent transmission mode, 0 I/O mode
Return value: 1

get_gripper_mode()

Function: Get gripper status
Return value: status(int): 0 - Transparent transmission mode 1 - I/O mode

set_HTS_gripper_torque(torque)

Function: Set adaptive gripper torque
Parameter Description:
- torque: 150 ~ 900
Return value: 0 - Setting failed; 1 - Setting successful

get_HTS_gripper_torque()

Function: Get adaptive gripper torque
Return value: 150 ~ 900

get_gripper_protect_current()

Function: Get gripper protection current
Return value: 1 ~ 500

init_gripper()

Function: Initialize gripper
Return value: 0 - initialization failed; 1 - initialization successful

set_gripper_protect_current(current)

Function: Set gripper protection current
Parameter Description:
- current: 1 ~ 500
Return value: 0 - initialization failed; 1 - initialization successful

Simple Demo

from pymycobot.mecharm270 import MechArm270
import time
#Enter the above code to import the packages required by the project

def gripper_test(mc):
    print("Start check IO part of api\n")
    # Check if the gripper is moving
    flag = mc.is_gripper_moving()
    print("Is gripper moving: {}".format(flag))
    time.sleep(1)

    # Set the current position to (2048).
    # Use it when you are sure you need it.
    # Gripper has been initialized for a long time. Generally, there
    # is no need to change the method.
    # mc.set_gripper_ini()
    # Set joint point 1 to rotate to the position of 2048
    mc.set_encoder(1, 2048)
    time.sleep(2)
    # Set six joint positions and let the robotic arm rotate to this position at a speed of 20
    mc.set_encoders([1024, 1024, 1024, 1024, 1024, 1024], 20)
    time.sleep(3)

    # Let the gripper reach the state of 100 at a speed of 70
    mc.set_gripper_value(100, 70)
    time.sleep(3)
    # Let the gripper reach the state of 0 at a speed of 70
    mc.set_gripper_value(0, 70)
    time.sleep(3)

    # Set the state of the gripper to quickly open the gripper at a speed of 70
    mc.set_gripper_state(0, 70)
    time.sleep(3)
    # Set the state of the gripper so that it quickly closes the gripper at a speed of 70
    mc.set_gripper_state(1, 70)
    time.sleep(3)

    # Get the value of the gripper
    print("")
    print(mc.get_gripper_value())


if __name__ == "__main__":
    # MechArm270 class initialization requires two parameters:
    #   The first is the serial port string, such as:
    #       linux:  "/dev/ttyUSB0"
    #          or "/dev/ttyACM0"
    #       windows: "COM3"
    #   The second is the baud rate:: 
    #       M5 version is:  115200
    #
    #    Example:
    #       MechArm270-M5:
    #           linux:
    #              mc = MechArm270("/dev/ttyUSB0", 115200)
    #          or mc = MechArm270("/dev/ttyACM0", 115200)
    #           windows:
    #              mc = MechArm270("COM3", 115200)
    #      MechArm270-raspi:
    #           mc = MechArm270(PI_PORT, PI_BAUD)
    #
    # Initialize a MechArm270 object
    # Create object code here for Raspberry Pi version below
    mc = MechArm270("/dev/ttyAMA0", 1000000)

    # M5 version
    # mc = MechArm270("COM3", 115200)

    # make it move to zero position
    mc.set_encoders([2048, 2048, 2048, 2048, 2048, 2048], 20)
    time.sleep(3)
    gripper_test(mc)

Controlling Gripper

is_gripper_moving( )

Function: Determine whether the gripper is running
return value:
- 0: Indicates that the gripper of the robot arm is not running
- 1: Indicates that the gripper of the robot arm is running
- -1: indicates an error

set_gripper_value(value, speed, gripper_type=None)

Function: Let the gripper rotate to the specified position at the specified speed
Parameter Description:
- value: Indicates the position that the clamping jaw wants to reach, the value range is 0~256
- speed: indicates the speed at which to rotate, the value range is 0~100
- gripper_type: Gripper type, the default is adaptive gripper
  - 1: Adaptive gripper
  - 3: Parallel jaws
  - 4: Flexible gripper
Return value: None

get_gripper_value(gripper_type=None)

Function: Get the current position data information of the gripper
Parameter Description:
- gripper_type: Gripper type, the default is adaptive gripper
  - 1: Adaptive gripper
  - 3: Parallel jaws
  - 4: Flexible gripper
Return value: Gripper data information

set_gripper_state(flag, speed, _type=None)

Function: Let the gripper enter the specified state at the specified speed
Parameter Description:
- flag: 1 means the clamping jaw is closed, 0 means the clamping jaw is open.
- speed: Indicates how fast to reach the specified state, the value range is 0~100
- _type: Gripper type, the default is adaptive gripper
  - 1: Adaptive gripper
  - 2: Five-fingered dexterity
  - 3: Parallel jaws
  - 4: Flexible gripper
Return value: None

set_eletric_gripper(status)

Function: Set gripper mode (only for 350)
Parameter description: status: 1 means the clamping jaw is closed, 0 means the clamping jaw is open.
Return value: None

set_gripper_mode(status)

Function: Set gripper mode
Parameter description: status: 1 transparent transmission mode, 0 I/O mode
Return value: None

get_gripper_mode()

Function: Get gripper status
Return value: status(int): 0 - Transparent transmission mode 1 - I/O mode

set_HTS_gripper_torque(torque)

Function: Set adaptive gripper torque
Parameter Description:
- torque: 150 ~ 900
Return value: 0 - Setting failed; 1 - Setting successful

get_HTS_gripper_torque()

Function: Get adaptive gripper torque
Return value: 150 ~ 900

get_gripper_protect_current()

Function: Get gripper protection current
Return value: 1 ~ 500

init_gripper()

Function: Initialize gripper
Return value: 0 - initialization failed; 1 - initialization successful

set_gripper_protect_current(current)

Function: Set gripper protection current
Parameter Description:
- current: 1 ~ 500
Return value: 0 - initialization failed; 1 - initialization successful

Simple Demo

from pymycobot.mycobot import MyCobot        
from pymycobot import PI_PORT, PI_BAUD  # When using the Raspberry Pi version of mycobot, these two variables can be referenced to initialize MyCobot
import time
#Enter the above code to import the packages required by the project

def gripper_test(mc):
    print("Start check IO part of api\n")
    # Check if the gripper is moving
    flag = mc.is_gripper_moving()
    print("Is gripper moving: {}".format(flag))
    time.sleep(1)

    # Set the current position to (2048).
    # Use it when you are sure you need it.
    # Gripper has been initialized for a long time. Generally, there
    # is no need to change the method.
    # mc.set_gripper_ini()
    # Set joint point 1 to rotate to the position of 2048
    mc.set_encoder(1, 2048)
    time.sleep(2)
    # Set six joint positions and let the robotic arm rotate to this position at a speed of 20
    mc.set_encoders([1024, 1024, 1024, 1024, 1024, 1024], 20)
    time.sleep(3)

    # Let the gripper reach the state of 100 at a speed of 70
    mc.set_gripper_value(100, 70)
    time.sleep(3)
    # Let the gripper reach the state of 0 at a speed of 70
    mc.set_gripper_value(0, 70)
    time.sleep(3)

    # Set the state of the gripper to quickly open the gripper at a speed of 70
    mc.set_gripper_state(0, 70)
    time.sleep(3)
    # Set the state of the gripper so that it quickly closes the gripper at a speed of 70
    mc.set_gripper_state(1, 70)
    time.sleep(3)

    # Get the value of the gripper
    print("")
    print(mc.get_gripper_value())


if __name__ == "__main__":
    # MyCobot class initialization requires two parameters:
    #   The first is the serial port string, such as:
    #       linux:  "/dev/ttyAMA0"
    #          or "/dev/ttyAMA0"
    #       windows: "COM3"
    #   The second is the baud rate:: 
    #       M5 version is:  115200
    #
    #    Example:
    #       mycobot-M5:
    #           linux:
    #              mc = MyCobot("/dev/ttyAMA0", 1000000)
    #          or mc = MyCobot("/dev/ttyAMA0", 115200)
    #           windows:
    #              mc = MyCobot("COM3", 115200)
    #       mycobot-raspi:
    #           mc = MyCobot(PI_PORT, PI_BAUD)
    #
    # Initialize a MyCobot object
    # Create object code here for Raspberry Pi version below
    mc = MyCobot(PI_PORT, PI_BAUD)
    # make it move to zero position
    mc.set_encoders([2048, 2048, 2048, 2048, 2048, 2048], 20)
    time.sleep(3)
    gripper_test(mc)

myBuddy

Controlling Gripper

is_gripper_moving(id)

Function Judge whether the gripper is moving or not
Parameters

id – 1/2 (L/R)
Returns
- 0 - not moving
- 1 - is moving
- -1 - error data

set_gripper_value(id, value, speed)

Function Set gripper value
Parameters
- id – 1/2 (L/R)
- value (int) – 0 ~ 100
- speed (int) – 0 ~ 100

get_gripper_value(id)

Function Get the value of gripper.
Parameters

id – 1/2 (L/R)
Returns

gripper value (int)

is_gripper_moving(id)

Function Judge whether the gripper is moving or not
Parameters

id – 1/2 (L/R)
Returns
- 0 - not moving
- 1 - is moving
- -1 - error data

myArm

Simple Demo

from pymycobot.myarm import MyArm
import time
#Enter the above code to import the packages required by the project

def gripper_test(mc):
    print("Start check IO part of api\n")
    # Check if the gripper is moving
    flag = mc.is_gripper_moving()
    print("Is gripper moving: {}".format(flag))
    time.sleep(1)

    # Set the current position to (2048).
    # Use it when you are sure you need it.
    # Gripper has been initialized for a long time. Generally, there
    # is no need to change the method.
    # mc.set_gripper_ini()
    # Set joint point 1 to rotate to the position of 2048
    mc.set_encoder(1, 2048)
    time.sleep(2)
    # Set six joint positions and let the robotic arm rotate to this position at a speed of 20
    mc.set_encoders([1024, 1024, 1024, 1024, 1024, 1024,1024], 20)
    time.sleep(3)

    # Let the gripper reach the state of 100 at a speed of 70
    mc.set_gripper_value(100, 70)
    time.sleep(3)
    # Let the gripper reach the state of 0 at a speed of 70
    mc.set_gripper_value(0, 70)
    time.sleep(3)

    # Set the state of the gripper to quickly open the gripper at a speed of 70
    mc.set_gripper_state(0, 70)
    time.sleep(3)
    # Set the state of the gripper so that it quickly closes the gripper at a speed of 70
    mc.set_gripper_state(1, 70)
    time.sleep(3)

    # Get the value of the gripper
    print("")
    print(mc.get_gripper_value())


if __name__ == "__main__":

    # Initialize a MyArm object
    mc = MyArm("/dev/ttyAMA0", 115200)
    # make it move to zero position
    mc.set_encoders([2048, 2048, 2048, 2048, 2048, 2048, 2048], 20)
    time.sleep(3)
    gripper_test(mc)

6 Gripper Control

Gripper Control

myPalletizer 260

Simple Demo

mechArm 270

Controlling Gripper

Simple Demo

Controlling Gripper

Simple Demo

myBuddy

Controlling Gripper

myArm

Simple Demo

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