Optional accessory commands

This section regroups all commands that are used to control or request data from the optional accessories for your robot: electric grippers (MEGP 25*) and pneumatic module (MPM500). Some of the commands in this section are queued, others are instantaneous (Get*, SetExtToolSim, and *_Immediate).

The following is the complete list of commands used for the electric grippers (MEGP 25*) and pneumatic module (MPM500):

• GetExtToolFwVersion

• GetRtExtToolStatus

• GetRtGripperForce

• GetRtGripperPos

• GetRtGripperState

• GetRtValveState

• GripperClose

• GripperOpen

• MoveGripper

• SetExtToolSim / GetExtToolSim

• SetGripperForce / GetGripperForce

• SetGripperRange / GetGripperRange

• SetGripperVel / GetGripperVel

• SetValveState