GetRtGripperForce#

This instantaneous command returns the currently applied grip force of the MEGP 25* grippers, preceded by a timestamp.

Syntax#

GetRtGripperForce()

Responses#

  • [2321][t, p]

    • t: timestamp in microseconds;

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

A positive grip force means the jaws are forcing outwards, while a negative grip force means the jaws are forcing towards each other.

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtGripperForce is represented by DynamicDataTypeID 53. See Section 4.4.6 for more details.