GetRtGripperState#

This instantaneous command returns the current state of the MEGP 25* grippers connected to the I/O port of the Meca500, preceded with a timestamp.

Syntax#

GetRtGripperState()

Responses#

  • [2320][t, hp, dr, gc, go]

    • t: timestamp in microseconds;

    • hp: holding part (0 if the gripper is not forcing, 1 otherwise);

    • dr: desired fingers opening reached (0 after a MoveGripper, GripperClose or GripperOpen command was executed and until the desired fingers opening was reached, 1 otherwise);

    • gc: gripper closed (1 if the current fingers opening is equal to or smaller than the fingers opening detected during homing or defined with the SetGripperRange command as the one corresponding to the closed position, 0 otherwise);

    • go: gripper open (1 if the current fingers opening is equal to or greater than the fingers opening detected during homing or defined with the SetGripperRange command as the one corresponding to the open position, 0 otherwise).

Usage restrictions#

This command can be executed in any robot state.

If no gripper is connected, the robot will report the following:

  • [1038][No gripper connected.]

Cyclic protocols#

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