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Python 11. Peripherals

11.1. Configuration of jaws

Prototype	SetGripperConfig(company,device,softversion=0,bus=0)
Description	Configuration jaws
Required Parameters	company: gripper claw manufacturer, 1-Robotiq, 2-Huiling, 3-Tianji, 4-Dahuan, 5-Knowledge; device: device number, Robotiq (0-2F-85 series), Huiling (0-NK series, 1-Z-EFG-100), Tianji (0-TEG-110), Dahuan (0-PGI-140), Zhixing (0-CTPM2F20)
Default parameters	softversion: software version number, not used for now, default is 0; bus: device mount end bus location, not used yet, default is 0;
Return Value	Error Code Success-0 Failure- errcode

11.2. Get Jaw Configuration

Prototype	GetGripperConfig()
Description	Get Jaw Configuration
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode [number,company,device,softversion]: number, jaw number; company, jaw manufacturer, 1-Robotiq, 2-Huiling, 3-Tianji, 4-Dahuan, 5-Zhixing ;device, device number, Robotiq (0-2F-85 series), Huiling (0 -NK series,1-Z-EFG-100), Tianji(0-TEG-110), Dahuan(0-PGI-140), Zhixing(0-CTPM2F20) ;softvesion, software version number, not in use for the time being, default is 0.

11.3. Activate jaws

Prototype	ActGripper(index,action)
Description	Activate the jaws.
Mandatory parameter	index: jaw number; action: 0-reset, 1-activate
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.4. Control jaws

Prototype	MoveGripper(index,pos,vel,force,maxtime,block,type,rotNum,rotVel,rotTorque)
Description	Control jaws
Mandatory parameter	index: jaw number; pos: percentage of position, range [0~100]; vel: percentage of speed, in the range [0 to 100]; vel: percentage of speed, in the range [0 to 100]. force: percentage of torque, range [0 to 100]; maxtime: maximum wait time, range [0~30000], unit [ms]; block: 0-blocking, 1-non-blocking; type: type of jaws, 0-parallel jaws; 1-rotary jaws; rotNum:rotNum The number of rotations; rotVel: Percentage of rotational velocity [0-100]; rotTorque: percentage of rotational torque [0-100].
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

11.5. Getting the jaw movement status

Prototype	GetGripperMotionDone()
Description	Get the state of the jaw motion
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode [fault,status]: status of gripper movement, fault:0-no error, 1-with error; status:0-movement not completed, 1-movement completed

11.6. Obtain the activated status of the gripper

New in version python: SDK-v2.1.2

Prototype	GetGripperActivateStatus()
Description	Obtain the activated status of the gripper
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error gripper_active：bit0 to bit15 correspond to the claw numbers 0 to 15. bit=0 indicates not activated, and bit=1 indicates activated

11.7. Obtain the position of the gripper

New in version python: SDK-v2.1.2

Prototype	GetGripperCurPosition()
Description	Obtain the position of the gripper
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error position：Position percentage, ranging from 0 to 100%

11.8. Obtain the gripper speed

New in version python: SDK-v2.1.2

Prototype	GetGripperCurSpeed()
Description	Obtain the gripper speed
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error speed：Speed percentage, range 0 to 100%

11.9. Obtain the gripper current

New in version python: SDK-v2.1.2

Prototype	GetGripperCurCurrent()
Description	Obtain the gripper current
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error current：Current percentage, range 0 to 100%

11.10. Obtain the gripper voltage

New in version python: SDK-v2.1.2

Prototype	GetGripperVoltage()
Description	Obtain the gripper voltage
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error voltage：Voltage, unit: 0.1V

11.11. Obtain the temperature of the gripper

New in version python: SDK-v2.1.2

Prototype	GetGripperTemp()
Description	Obtain the temperature of the gripper
Mandatory parameter	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode fault：0-correct，1-error temp：Temperature, unit: 0.1V

11.12. Calculate pre-capture point-visual

Prototype	ComputePrePick(desc_pos, zlength, zangle)
Description	Calculate pre-capture point-visual
Mandatory parameter	desc_pos: clip grab point Cartesian position. zlength: z-axis offset. zangle: rotational offset around the z-axis
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode pre_pos: pre-grip point Cartesian position

11.13. Calculate retreat point-visual

Prototype	ComputePostPick(desc_pos, zlength, zangle)
Description	Computing Retreat Point-Vision
Mandatory parameters	desc_pos: grab point Cartesian position; zlength: z-axis offset. zangle: rotational offset around the z-axis
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode post_pos: retreat point Cartesian poses

11.14. Robot claw operation code example

from fairino import Robot
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
company = 4
device = 0
softversion = 0
bus = 2
index = 2
act = 0
max_time = 30000
block = 0
status = 0
fault = 0
active_status = 0
current_pos = 0
current = 0
voltage = 0
temp = 0
speed = 0
robot.SetGripperConfig(company, device, softversion, bus)
time.sleep(1)
error,[company, device, softversion, bus] = robot.GetGripperConfig()
print(f"gripper config:{company},{device},{softversion},{bus}")
robot.ActGripper(index, act)
time.sleep(1)
act = 1
robot.ActGripper(index, act)
time.sleep(1)
error = robot.MoveGripper(index, 90, 50, 50, max_time, block, 0, 0, 0, 0)
print(f"MoveGripper retval is:{error}")
time.sleep(1)
error = robot.MoveGripper(index, 30, 50, 0, max_time, block, 0, 0, 0, 0)
print(f"MoveGripper retval is:{error}")
error, [fault, status] = robot.GetGripperMotionDone()
print(f"motion status:{fault},{status}")
error, [fault, active_status] = robot.GetGripperActivateStatus()
print(f"gripper active fault is:{fault},status is:{active_status}")
error, [fault, current_pos] = robot.GetGripperCurPosition()
print(f"fault is:{fault},current position is:{current_pos}")
error, [fault, current] = robot.GetGripperCurCurrent()
print(f"fault is:{fault},current current is:{current}")
error, [fault, voltage] = robot.GetGripperVoltage()
print(f"fault is:{fault},current voltage is:{voltage}")
error, [fault, temp] = robot.GetGripperTemp()
print(f"fault is:{fault},current temperature is:{temp}")
error, [fault, speed] = robot.GetGripperCurSpeed()
print(f"fault is:{fault},current speed is:{speed}")
retval = 0
prepick_pose = [0.0]*6
postpick_pose = [0.0]*6
p1Desc = [-419.524, -13.000, 351.569, -178.118, 0.314, 3.833]
p2Desc = [-321.222, 185.189, 335.520, -179.030, -1.284, -29.869]
retval, prepick_pose = robot.ComputePrePick(p1Desc, 10, 0)
print(f"ComputePrePick retval is:{retval}")
print(f"xyz is:{prepick_pose[0]},{prepick_pose[1]},{prepick_pose[2]};rpy is:{prepick_pose[3]},{prepick_pose[4]},{prepick_pose[5]}")
retval, postpick_pose = robot.ComputePostPick(p2Desc, -10, 0)
print(f"ComputePostPick retval is:{retval}")
print(f"xyz is:{postpick_pose[0]},{postpick_pose[1]},{postpick_pose[2]};rpy is:{postpick_pose[3]},{postpick_pose[4]},{postpick_pose[5]}")
robot.CloseRPC()

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