SetGripperRange#

This queued command sets the closed and open states of the gripper and is used mainly to redefine the actions of the GripperClose and GripperOpen commands, respectively.

The SetGripperRange command is useful for the MEGP 25LS gripper. For example, if you are manipulating parts that require fingers opening between 10 mm and 20 mm, but the allowable range of the gripper as detected during the homing is 48 mm, it would be more efficient to redefine the actions of the GripperClose and GripperOpen commands by calling SetGripperRange(8,22), or else the fingers will move more than necessary, increasing your cycle time.

The SetGripperRange command does not limit the accessible range of the gripper, in contrast to the SetJointLimits command, which limits the range of a joint. For example, if during homing, the robot detected that the range for the finger opening was [0, 15], and then you sent SetGripperRange(8,13), you can still open the gripper more with MoveGripper(14). However, using the commands GripperOpen and GripperClose will be equivalent to using the commands MoveGripper(8) and MoveGripper(13), respectively. Furthermore, when the fingers opening is 8 mm (or less) or 13 mm (or more), the state of the gripper will be “gripper open” or “gripper close”, respectively (see GetRtGripperState).

Syntax#

SetGripperRange(dclosed,dopen)

Arguments#

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

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

Default values#

The default settings are applied whenever the robot is activated or reactivated.

By default, the gripper closed and open states are those detected during the homing of the gripper, i.e., dclosed = 0 and dopen ≤ 6, in the case of the MEGP 25E gripper, or dopen ≤ 48, in the case of the MEGP 25LS gripper. To go back to these default values, use SetGripperRange(0,0).

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.]

Cyclic protocols#

In cyclic protocols, the SetGripperRange command is represented by MotionCommandID 31. See Section 4.2 for more details.