python development

USB-485 module wiring:

Connect the 24V, GND, 485_A (T/R+, 485+), 485_B (T/R-, 485-) of the smart hand 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 connects to the 485 to USB module A+;
485B connects to the 485 to USB module B-;
24V connects to the positive pole of the 24V DC regulated power supply;
GND connects to 24V Negative pole of DC regulated power supply

Driver library installation Click to download the driver library

Serial port dependency library installation

Execute the following command in the computer terminal to install the dependency library

pip install pyserial

API description

get_gripper_firmware_version()

  • Function: Get the gripper firmware major version number
  • Parameter: None
  • Return: (int) Firmware major version number

get_gripper_modified_version()

  • Function: Get the gripper firmware minor version number
  • Parameter: None
  • Return: (int) Firmware minor version number

get_gripper_gripper_Id()

  • Function: Get the gripper ID
  • Parameter: None
  • Return: (int) Gripper ID

get_gripper_gripper_baud()

  • Function: Get the gripper baud rate
  • Parameter: None
  • Return: (int) 0-5
    • 0: 115200
    • 1: 1000000
    • 2: 57600
    • 3: 19200
    • 4: 9600
    • 5: 4800

get_gripper_joint_angle(id)

  • Function: Get the current position data of the gripper
  • Parameter: id: (int) Gripper joint ID, value range 1-6
  • Return: (int) Current position data of the gripper joint ID

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 the object was detected, the object fell

get_gripper_joint_speed(id)

  • Function: Get the current speed of the gripper joint ID
  • Parameter: id: (int) Gripper joint ID, value range 1-6
  • Return: (int) Current speed of the gripper joint ID

get_gripper_joint_P(id)

  • Function: Get the P value of the PID of the gripper joint ID
  • Parameter: id: (int) Gripper joint ID, value range 1-6
  • Return: (int) The P value of the PID of the gripper joint ID

get_gripper_joint_I(id)

  • Function: Get the I value of the PID of the gripper joint ID
  • Parameter: id: (int) Gripper joint ID, value range 1-6
  • Return: (int) The I value of the PID of the gripper joint ID

get_gripper_joint_D(id)

  • Function: Get the D value of the PID of the gripper joint ID

  • Parameter: id: (int) Gripper joint ID, value range 1-6

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

get_gripper_joint_cw(id)

  • Function: Get the clockwise runnable error of the gripper joint ID

  • Parameter: id: (int) Gripper joint ID, value range 1-6

  • Return: (int) The clockwise runnable error of the gripper joint ID

get_gripper_joint_cww(id)

  • Function: Get the counterclockwise runnable error of the gripper joint ID

  • Parameter: id: (int) Gripper joint ID, value range 1-6

  • Return: (int) Anti-clockwise runnable error of the gripper joint ID

get_gripper_joint_mini_pressure(id)

  • Function: Get the minimum starting force of the gripper joint ID

  • Parameter: id: (int) Gripper joint ID, value range 1-6

  • Return: (int) Minimum starting force of the gripper joint ID

get_gripper_joint_mini_pressure(id)

  • Function: Get the minimum starting force of the gripper joint ID

  • Parameter: id: (int) Gripper joint ID, value range 1-6

  • Return: (int) Minimum starting force of the gripper joint ID

get_gripper_angles()

  • Function: Get the angles of the 6 joints of the gripper

  • Parameter: id: (int) Gripper joint ID, value range 1-6

  • Return: (list) Angles of the 6 joints of the gripper

set_gripper_Id(value)

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

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: Success

set_gripper_enable(value)

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

set_gripper_joint_calibration(id)

  • Function: Set the gripper joint ID zero calibration
  • Parameter: id: (int) Gripper joint ID, value range 1-6
  • Return:(int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_joint_P(id,value)

  • Function: Set the P value of the PID of the gripper joint ID

  • Parameters:

    • id: (int) Joint ID, value range 1-6
    • value: (int) P value, value range 0-254
  • Return: (int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_joint_I(id,value)

  • Function: Set the I value of the PID of the gripper joint ID

  • Parameters:

    • id: (int) Joint ID, value range 1-6
    • value: (int) I value, value range 0-254
  • Return: (int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_joint_D(id,value)

  • Function: Set the D value of the PID of the gripper joint ID

  • Parameters:

    • id: (int) Joint ID, value range 1-6
    • value: (int) D value, value range 0-254
  • Return: (int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_joint_cw(id,value)

  • Function: Set the clockwise runnable error of the gripper joint ID

  • Parameters:

    • id: (int) Joint ID, value range 1-6
    • value: (int) Error, value range 0-16
  • Return: (int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_joint_cww(id,value)

  • Function: Set the counterclockwise runnable error of the gripper joint ID

  • Parameters:

    • id: (int) Joint ID, value range 1-6
    • value: (int) Error, value range 0-16
  • Return: (int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_joint_mini_pressure(id,value)

  • Function: Set the minimum starting force of the gripper joint ID

  • Parameters:

    • id: (int) Joint ID, value range 1-6
    • value: (int) Minimum starting force, value range 0-254
  • Return: (int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_joint_torque(id,value)

  • Function: Set the torque of the gripper joint ID
  • Parameters:
    • id: (int) Joint ID, value range 1-6
    • value: (int) Torque, value range 0-300
  • Return: (int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_joint_speed(id,speed)

  • Function: Set the speed of the gripper joint ID
  • Parameters:
    • id: (int) Joint ID, value range 1-6
    • speed: (int) Speed, value range 1-100
  • Return: (int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_angles(angles,speed)

  • Function: Set the angle of all joints of the gripper
  • Parameters:
    • angles: (list) 6 joint angles, each joint angle has a value range of 0-100
    • speed: (int) speed, value range of 1-100
  • Return: (int) 0-1
    • 0: Failed
    • 1: Successful

set_gripper_action(value)

  • Function: Set the gripper pinching action
  • Parameters:
    • value: (int) action, value range of 0-3
      • 0: Index finger and thumb pinching
      • 1: Middle finger and thumb pinching
      • 2: Three-finger gripping
      • 3: Two-finger gripping
  • Return: (int) 0-1
    • 0: Failed
    • 1: Success

set_gripper_pose(pose,value,flag)

  • Function: Set the gripper pinching action and opening and closing degree

  • Parameters:

    • pose: (int) Action, value range 0-4
      • 0: All joints return to zero
      • 1: Index finger and thumb pinching
      • 2: Middle finger and thumb pinching
      • 3: Middle finger and index finger pinching
      • 4: Three-finger pinching
    • value: (int) Opening and closing degree, value range 0-15, closing degree, the higher the level, the closer it is
    • flag: (int) Idle flag, when flag 1, the idle finger can be freely controlled

  • Return: (int) 0-1

    • 0: Failure
    • 1: Success

Testing Procedure

from MyHand import MyGripper_H100
import time
if __name__=="__main__":
    hand=MyGripper_H100("COM8")
    hand.set_gripper_pose(0,0)
    time.sleep(2)
    hand.set_gripper_pose(1,5)
    time.sleep(5)
    hand.set_gripper_pose(2,5)
    time.sleep(5)
    hand.set_gripper_pose(3,5)
    time.sleep(5)
    hand.set_gripper_pose(4,15)
    time.sleep(5)
    hand.set_gripper_pose(0,0)
    time.sleep(2)

Effect display

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