GetRtGripperPos

This instantaneous command returns the current fingers opening (also referred to as gripper position) of the MEGP 25* grippers (see MoveGripper), preceded with a timestamp.

Syntax

GetRtGripperPos()

Responses

• [2322][t, d]

  • t: timestamp in microseconds;

  • d: fingers opening, in mm.

Note

You can use this command to perform rough measurements on a part. However, you would need to use short, rigid, precisely machined, and properly installed fingers. These fingers will also have to be designed in such a way that the part is automatically aligned. For example, you can measure the diameter of a cylindrical vial, once you lift the vial. Even in such perfect conditions, you can still obtain measurement errors of as much as 0.5 mm.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

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