SetGripperVel#

This queued command limits the velocity of the gripper fingers (with respect to the gripper).

Syntax#

SetGripperVel(p)

Arguments#

  • p: percentage of maximum finger velocity (~50 mm/s), ranging from 5 to 100.†

† If the gripper force is set to 100% using the SetGripperForce command, it is possible to exceptionally increase the argument p up to 200. However, it should be noted that doing so will result in reduced accuracy of the force control on the gripper fingers.

Default values#

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

By default, p = 40.

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 SetGripperVel command is represented by MotionCommandID 19. See Section 4.2 for more details.