pymycobot library control

Note: Currently only mycobot 320 series and Mercury series can use the following pymycobot library API function to control the gripper. When using, connect the gripper to the end of the robot arm, and the time interval between each gripper instruction call must be greater than 1.5 seconds.

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set_pro_gripper(gripper_id, address, value)

  • Function: Set the Pro force control gripper parameters, and you can set a variety of parameter functions. For details, please see the following table.

  • Parameter:

    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.

    • address (int): Gripper instruction number.

    • value: Parameter value corresponding to the instruction number.

Function gripper_id address value
Set gripper ID 14 3 1 ~ 254
Set gripper enable status 14 10 0 or 1, 0 - off enable; 1 - on enable
Set gripper clockwise runnable error 14 21 0 ~ 16
Set the anti-clockwise running error of the gripper 14 23 0 ~ 16
Set the minimum starting force of the gripper 14 25 0 ~ 254
IO output setting 14 29 0, 1, 16, 17
Set IO opening angle 14 30 0 ~ 100
Set IO closing angle 14 31 0 ~ 100
Set servo virtual position value 14 41 0 ~ 100
Set the clamping current 14 43 1 ~ 254
  • Return value:
    • Please check the following table:
Function Return value
Set the gripper ID 0 - Failure; 1 - Success
Set the gripper enable status 0 - Failure; 1 - Success
Set the clockwise runnable error of the gripper 0 - Failure; 1 - Success
Set the counterclockwise runnable error of the gripper 0 - Failure; 1 - Success
Set the minimum starting force of the gripper 0 - Failure; 1 - Success
IO output setting 0 - Failure; 1 - Success
Set IO opening angle 0 - Failure; 1 - Success
Set IO closing angle 0 - Failure; 1 - Success
Set the servo virtual position value 0 - Failure; 1 - Success
Set the clamping current 0 - Failure; 1 - Success

get_pro_gripper(gripper_id, address)

  • Function: Get the parameters of the Pro force-controlled gripper, which can get a variety of parameter functions. Please refer to the following table for details.
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
    • address (int): The command number of the gripper.
Function gripper_id address
Read firmware major version number 14 1
Read firmware minor version number 14 2
Read gripper ID 14 3
Read gripper clockwise runnable error 14 22
Read the anti-clockwise running error of the gripper 14 24
Read the minimum starting force of the gripper 14 26
Read the IO opening angle 14 34
Read the IO closing angle 14 35
Get the amount of data in the current queue 14 40
Read the servo virtual position value 14 42
Read the clamping current 14 44
  • Return value:
    • Check the following table (if the return value is -1, it means that no data can be read):
Function Return value
Read the firmware major version number Major version number
Read the firmware minor version number Minor version number
Read the gripper ID 1 ~ 254
Read the gripper clockwise runnable error 0 ~ 254
Read the gripper counterclockwise runnable error 0 ~ 254
Read the minimum starting force of the gripper 0 ~ 254
Read the IO opening angle 0 ~ 100
Read the IO closing angle 0 ~ 100
Get the amount of data in the current queue Return the amount of data in the current absolute control queue
Read the servo virtual position value 0 ~ 100
Read the clamping current 1 ~ 254

set_pro_gripper_angle(gripper_id, gripper_angle)

  • Function: Set the force-controlled gripper angle.
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
    • gripper_angle (int): Gripper angle, value range 0 ~ 100.
  • Return value:
    • 0 - Failed
    • 1 - Successful

get_pro_gripper_angle(gripper_id)

  • Function: Read the force-controlled gripper angle.
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
  • Return value: int 0 ~ 100

set_pro_gripper_open(gripper_id)

  • Function: Open the force-controlled gripper.

  • Parameter:

    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.

  • Return value:

    • 0 - Failed

    • 1 - Successful

set_pro_gripper_close(gripper_id)

  • Function: Close the force-controlled gripper.

  • Parameter:

    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
  • Return value:
    • 0 - Failure
    • 1 - Success

set_pro_gripper_calibration(gripper_id)

  • Function: Set the zero position of the force-controlled gripper. (The zero position needs to be set first when using it for the first time)

  • Parameter:

    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.

  • Return value:

    • 0 - Failure
    • 1 - Success

get_pro_gripper_status(gripper_id)

  • Function: Read the gripping status of the force-controlled gripper.

  • Parameter:

    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.

  • Return value:

    • 0 - Moving.
    • 1 - Stopped moving, no object was detected.
    • 2 - Stop motion, detect that the object is clamped.
    • 3 - After detecting that the object is clamped, the object falls.

set_pro_gripper_torque(gripper_id, torque_value)

  • Function: Set the torque of the force-controlled gripper.
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
    • torque_value (int): Torque value, value range 1 ~ 100.
  • Return value:
    • 0 - Failed
    • 1 - Successful

get_pro_gripper_torque(gripper_id)

  • Function: Read the torque of the force-controlled gripper.
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
  • Return value: (int) 100 ~ 300

set_pro_gripper_speed(gripper_id, speed)

  • Function: Set the force-controlled gripper speed.

  • Parameter:

    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.

    • speed (int): Gripper movement speed, value range 1 ~ 100.

  • Return value:

    • 0 - Failed

    • 1 - Successful

get_pro_gripper_default_speed(gripper_id, speed)

  • Function: Read the default speed of the force-controlled gripper.

  • Parameter:

    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
  • Return value: Default movement speed of the gripper, range 1 ~ 100.

set_pro_gripper_abs_angle(gripper_id, gripper_angle)

  • Function: Set the absolute angle of the force-controlled gripper.

  • Parameter:

    • gripper_id (int): Gripper ID, default 14, range 1 ~ 254.

    • gripper_angle (int): Gripper angle, range 0 ~ 100.

  • Return value:

    • 0 - Failed

    • 1 - Successful

set_pro_gripper_pause(gripper_id)

  • Function: Pause movement.

  • Parameter:

    • gripper_id (int) Gripper ID, default 14, range 1 ~ 254.
  • Return value:
    • 0 - Failure
    • 1 - Success

set_pro_gripper_resume(gripper_id)

  • Function: Resume motion.
  • Parameter:
    • gripper_id (int) Gripper ID, default 14, value range 1 ~ 254.
  • Return value:
    • 0 - Failure
    • 1 - Success

set_pro_gripper_stop(gripper_id)

  • Function: Stop motion.
  • Parameter:
    • gripper_id (int) Gripper ID, default 14, value range 1 ~ 254.
  • Return value:
    • 0 - Failure
    • 1 - Success

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