GetGripperRange

This queued command returns the gripper range set by the SetGripperRange command.

Syntax

GetGripperRange()

Responses

• [2162][d_closed, d_open]

  • d_closed: fingers opening that should correspond to closed state, in mm;

  • d_open: fingers opening that should correspond to open state, in mm.

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 GetGripperRange is represented by DynamicDataTypeID 23. See Section 4.4.6 for more details.