GetGripperForce#

This queued command returns the grip force set by the SetGripperForce command.

Syntax#

GetGripperForce()

Responses#

  • [2158][p]

    • p: grip force limit, as signed percentage of the maximum grip force (~40 N).

Usage restrictions#

This command can only be executed when the robot is ready for motion. Otherwise, the robot will report one of the following:

  • [1005][The robot is not activated.]

  • [1006][The robot is not homed.]

Cyclic protocols#

In cyclic protocols, the command GetGripperForce is represented by DynamicDataTypeID 23. See Section 4.4.6 for more details.