GripperClose#

This queued command is used to close the MEGP 25E or MEGP 25LS grippers. The gripper will move its fingers together until the grip force reaches 40 N. You can reduce this maximum grip force using the SetGripperForce command. You can also control the speed of the gripper with the SetGripperVel command.

By default, GripperClose command closes the gripper fingers until resistance is met. However, a maximum closing distance can be set using the SetGripperRange command.

You can use this command with the MPM500 pneumatic module too. See the SetValveState command for more details.

Syntax#

GripperClose()

Note

The gripper commands GripperOpen, GripperClose, and MoveGripper are queued like other motion commands but, their execution runs in parallel with robot motion:

  • They start at the beginning of the blending (or deceleration) phase of the preceding motion command in the queue.

  • They continue executing in parallel with any subsequent motion commands, which begin immediately as the gripper command starts.

To coordinate with motion commands:

  • To ensure a gripper command starts only after the robot has come to a complete stop, insert a Delay or use SetCheckpoint and wait for it before posting the gripper command.

  • To ensure the robot remains stationary until the gripper command completes, insert a Delay or use GetRtGripperState to detect when the gripper is holding or has released the part.

Usage restrictions#

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

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

  • [1006][The robot is not homed.]

  • [1011][The robot is already in error.]

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

  • [1038][No gripper connected.]

Cyclic protocols#

In cyclic protocols, the commands GripperClose and GripperOpen are represented by MotionCommandID 18. See Section 4.2 for more details.