15.4.21 End-effector commands

15.4.21.1 JodellGripInit — Initialize Jodell electric gripper

Explanation	Initialization command of Jodell electric gripper
Definition	JodellGripInit (ID, wait_time); ID, data type: Int variable, to establish communication and initialize Jodell electric gripper, parameter ID. Wait_time, data type: Int variable, to wait for the initialization to complete, wait time threshold, report error on timeout, in s.
Example

15.4.21.2 JodellGripMove — Control Jodell electric gripper

Explanation	Motion command of Jodell electric gripper
Definition	JodellGripMove (ID, Pos, Vel, Trq); ID, data type: Int variable, the electric gripper ID that controls the movement of the electric gripper. Pos, data type: Int variable, target position, unitless, range: 0−255. Vel, data type: Int variable, electric gripper velocity, unitless, range: 0−255. Trq, data type: Int variable, force detected by electric gripper operation, unitless, range 0−255.
Example

15.4.21.3 JodellGripStatus — Get Jodell electric gripper status

Explanation	It is used to obtain the status of Jodell electric gripper
Definition	JodellGripStatus (ID, Pos, Vel, Trq, Contact); ID, data type: Int variable, the electric gripper ID that obtains the movement status of the electric gripper. Pos, data type: Int variable, to obtain the electric gripper’s current position, unitless, range: 0−255. Vel, data type: Int variable, to obtain the electric gripper’s velocity, unitless, range: 0−255. Trq, data type: Int variable, to obtain the electric gripper’s torque, unitless, range: 0−255. Contact, data type: Int variable, to obtain the electric gripper’s state, unitless, range 0-255, where bit6-7 indicate whether the electric gripper detects an object.
Example

Bit	Name	Value/Description
0	gAct	0: the electric gripper is being reset; 1: the electric gripper is in the enabling state
2	gMode	0: the parameter control mode; 1: the parameterless control mode
3	gGTO	0: stop; 1: moving to the target position
4-5	gSTA	0: the electric gripper is being reset or in the inspection state; 1: being activated; 2: not used; 3: activation completed
6-7	gOBJ	0: fingers are moving to the specified position; 1: fingers stop due to contact with an object when opening to reach the specified position; 2: fingers stop due to contact with an object when closing to reach the specified position; 3: fingers reach the specified position, but no object is detected.

15.4.21.4 JodellSuckInit — Initialize Jodell suction cup

Explanation	Initialization command of Jodell suction cup
Definition	JodellSuckInit(ID ); ID, data type: Int variable, to initialize the suction cup of this ID and detect if the suction cup of this ID is connected correctly.
Example

15.4.21.5 JodellSuckSet — Set Jodell suction cup

Explanation	The command for Jodell suction cup to operate. When this command is given, the suction cups immediately start operating according to the set parameters
Definition	JodellSuckSet(ID, CH1_enable, CH1_VacMin, CH1_VacMax, CH1_Waittime, CH2_enable, CH2_VacMin, CH2_VacMax, CH2_Waittime); ID, data type: Int variable, the ID of the suction cup being controlled. CH1_enable, data type: Int variable, whether the first channel of the suction cup is working or not. 1: working; 0: not working. CH1_VacMin, data type: Int variable, the minimum vacuum level of the first channel of the suction cup, range: 0−255. 0 means pure vacuum, and a value over 100 means releasing the suction cup; stop pumping when the actual vacuum level is lower than this threshold; CH1_VacMax, data type: Int variable, the maximum vacuum level of the first channel of the suction cup, range: 0−255. 0 means pure vacuum, and a value over 100 means releasing the suction cup; start pumping when the actual vacuum level is higher than this threshold; CH1_Waittime, data type: Double variable, timeout value of the first channel of the suction cup; CH2_enable, data type: Int variable, whether the second channel of the suction cup is working or not. 1: working; 0: not working. CH2_VacMin, data type: Int variable, the minimum vacuum level of the second channel of the suction cup, range 0−255. 0 means pure vacuum, and a value over 100 means releasing the suction cup; stop pumping when the actual vacuum level is lower than this threshold; CH2_VacMax, data type: Int variable, the maximum vacuum level of the second channel of the suction cup, range 0-255. 0 means pure vacuum, and a value over 100 means releasing the suction cup; start pumping when the actual vacuum level is higher than this threshold; CH2_Waittime, data type: Double variable, timeout value of the second channel of the suction cup;
Example

15.4.21.6 JodellSuckStatus — Get Jodell suction cup status

Explanation	It is used to obtain the status of Jodell suction cup
Definition	JodellSuckStatus(ID, Vac1, Contact1, Time_Err1, Vac2, Contact2, Time_Err2); ID, data type: Int variable, the ID of the suction cup whose status is to be obtained. Vac1, data type: Int variable, current vacuum level of the suction cup’s first channel obtained, range: 0−100. Contact1, data type: Int variable, current status of the suction cup’s first channel obtained, range: 0−255, where bit6-7 indicates whether the an object is detected. See the table below for status details. Time_Err1, data type: Int variable, whether the suction cup’s first channel obtained triggers a timeout alarm. Vac2, data type: Int variable, current vacuum level of the suction cup’s second channel obtained, range: 0−100. Contact2, data type: Int variable, current status of the suction cup’s second channel obtained, range: 0−255, where bit6-7 indicates whether an object is detected. See the table above for status details. Time_Err2, data type: Int variable, whether the suction cup’s second channel obtained triggers a timeout alarm.
Example

Bit	Name	Value/Description
0	gAct	0: the electric suction cup is not enabled; 1: the electric suction cup is enabled
2	gMode	0: the automatic control mode; 1: the advanced control mode
3	gGTO	0: adjustment stopped; 1: the pressure or vacuum is being adjusted
4-5	gSTA	0: the electric suction cup is not activated; 1 & 2: the electric suction cup is not used; 3: the electric suction cup is activated
6-7	gOBJ	0: below the minimum air pressure; 1: work object detected and minimum pressure value reached; 2: work object detected and maximum pressure value reached; 3: no object detected, object lost or detached.

15.4.21.7 RMRGMGripInit — Initialize Robustmotion RMRGM electric gripper

Explanation	It is the command to initialize Robustmotion RM-RGM series electric grippers.
Definition	RMRGMGripInit(ID ); ID, data type: Int variable, the gripper ID that controls the movement of the gripper.
Example

15.4.21.8 RMCGripInit — Initialize Robustmotion RMC electric gripper

Explanation	It is the command to initialize Robustmotion RM-C series electric grippers.
Definition	RMCGripInit (ID ); ID, data type: Int variable, the gripper ID that controls the movement of the gripper.
Example

15.4.21.9 RMRGMGripPosMove — Move Robustmotion RMRGM gripper (position mode)

Explanation	It is the Motion command for the position mode of the Robustmotion RMRGM series electric gripper.
Definition	RMRGMGripPosMove(ID, Pos, Vel, Acc, PCheck); ID, data type: Int variable, the electric gripper ID that controls the movement of the electric gripper. Pos, data type: Double variable, target position (mm) with a setting range of -2000.0−2000.0. Vel, data type: Double variable, running speed of electric grippers (mm/s) with a setting range of 0.01−1000.0. Acc, data type: Double variable, running acceleration of electric grippers (mm/s^2), with a setting range of 0.01−2000.0. PCheck, data type: Double variable, positioning range (mm), with a setting range of 0.01−10.0.
Example

15.4.21.10 RMCGripPosMove — Move Robustmotion RMC gripper (position mode)

Explanation	It is the Motion command for the position mode of the Robustmotion RMC series electric gripper
Definition	RMCGripPosMove(ID, Pos, Vel, Acc, PCheck ); ID, data type: Int variable, the electric gripper ID that controls the movement of the electric gripper. Pos, data type: Double variable, target position (mm) with a setting range of -2000.0−2000.0. Vel, data type: Double variable, running speed of electric grippers (mm/s) with a setting range of 0.01−1000.0. Acc, data type: Double variable, running acceleration of electric grippers (mm/s^2), with a setting range of 0.01−2000.0. PCheck, data type: Double variable, positioning range (mm), with a setting range of 0.01−10.0.
Example

15.4.21.11 RMRGMGripTrqMove — Move Robustmotion RMRGM gripper (torque mode)

Explanation	It is the Motion command for the torque mode of the Robustmotion RMRGM series electric gripper.
Definition	RMRGMGripTrqMove(ID, Pos, Vel, Acc, Trq, PCheck, TCheck ); ID, data type: Int variable, the electric gripper ID that controls the movement of the electric gripper. Pos, data type: Double variable, target distance (mm) with a setting range of -2000.0−2000.0. Vel, data type: Double variable, running speed of electric grippers (mm/s) with a setting range of 0.01−1000.0. Acc, data type: Double variable, running acceleration of electric grippers (mm/s^2), with a setting range of 0.01−2000.0. Trq, data type: Double variable, positioning range (N.m.), with a setting range of 0.01−100.0. PCheck, data type: Double variable, positioning range (mm), with a setting range of 0.01−10.0. TCheck, data type: Double variable, time range (mm), with a setting range of 0.01−1000.0.
Example

15.4.21.12 RMCGripTrqMove — Move Robustmotion RMC gripper (torque mode)

Explanation	It is the Motion command for the torque mode of the Robustmotion RMC series electric gripper.
Definition	RMCGripTrqMove (ID, Pos, Vel, Acc, Trq, PCheck, TCheck); ID, data type: Int variable, the electric gripper ID that controls the movement of the electric gripper. Pos, data type: Double variable, target distance (mm) with a setting range of -2000.0−2000.0. Vel, data type: Double variable, running speed of electric grippers (mm/s) with a setting range of 0.01−1000.0. Acc, data type: Double variable, running acceleration of electric grippers (mm/s^2), with a setting range of 0.01−2000.0. Trq, data type: Double variable, positioning range (N.m.), with a setting range of 0.01−100.0. PCheck, data type: Double variable, positioning range (mm), with a setting range of 0.01−10.0. TCheck, data type: Double variable, time range (mm), with a setting range of 0.01−1000.0.
Example

15.4.21.13 RMRGMGripStatus — Get Robustmotion RMRGM gripper status

Explanation	It is the acquisition state command of Robustmotion RM-RGM series electric grippers
Definition	RMRGMGripStatus (ID, Pos, Vel, Trq, Reach, Err); ID, data type: Int variable, the electric gripper ID that controls the movement of the electric gripper. Pos, data type: Double variable, electric gripper position, in mm. Vel, data type: Double variable, running speed of electric grippers, in mm/s. Trq, data type: Double variable, output torque of electric gripper (%), in %. Reach, data type: bool variable, to indicate whether the electric grippers are in place. Err, data type: Int variable, error code for electric grippers.
Example

15.4.21.14 RMCGripStatus — Get Robustmotion RMC gripper status

Explanation	It is the state acquisition command of Robustmotion RMC series electric grippers.
Definition	RMCGripStatus (ID, Pos, Vel, Trq, Reach, Err); ID, data type: Int variable, the electric gripper ID that controls the movement of the electric gripper. Pos, data type: Double variable, electric gripper position, in mm. Vel, data type: Double variable, running speed of electric grippers, in mm/s. Trq, data type: Double variable, output torque of electric gripper (%), in %. Reach, data type: bool variable, to indicate whether the electric grippers are in place. Err, data type: Int variable, error code for electric grippers.
Example

15.4.21.15 RMRGMResetErr — Reset Robustmotion RMRGM gripper error

Explanation	It is the error command for electric grippers resetting of Robustmotion RM-RGM series.
Definition	RMRGMResetErr (ID); ID, data type: Int variable, the ID of the electric grippers that need to be reset.
Example

15.4.21.16 RMCResetErr — Reset Robustmotion RMC gripper error

Explanation	It is the error command for electric grippers resetting of Robustmotion RMC series.
Definition	RMCResetErr(ID ); ID, data type: Int variable, the ID of the electric grippers that need to be reset.
Example

15.4.21.17 RobotiqGripInit — Initialize Robotiq electric gripper

Explanation	It is the command to initialize Robotiq 2F_85 series electric grippers.
Definition	RobotiqGripInit(ID); ID, data type: Int variable, the electric gripper ID that controls the movement of the electric gripper.
Example

15.4.21.18 RobotiqGripGetStatus — Get Robotiq electric gripper status

Explanation	It is the command to get the status of Robotiq 2F_85 series electric grippers.
Definition	RobotiqGripGetStatus(ID, Pos, gOBJ, Err ); ID, data type: Int variable, the electric gripper ID that controls the movement of the electric gripper. Pos, data type: Int variable, position of electric grippers, range: 0−255. gOBJ, data type: Int variable, contact status of electric grippers. 0 indicates the electric gripper is in motion without contacting any object; 1 indicates object contact occurred during the gripper opening process; 2 indicates object contact occurred during the gripper closing process; 3 indicates the electric gripper reached the specified position without contacting any object. Err, data type: Int variable, error code for electric grippers.
Example

15.4.21.19 RobotiqGripMove — Control Robotiq electric gripper

Explanation	It is the command to move Robotiq 2F_85 series electric grippers.
Definition	RobotiqGripMove(ID, Pos, Vel, Trq); ID, data type: Int variable, the electric gripper ID that controls the movement of the electric gripper. Pos, data type: Int variable, position of electric grippers, range: 3−227. Vel, data type: Int variable, velocity of electric grippers, range: 0−255. Trq, data type: Int variable, output torque of electric grippers, range: 0−255.
Example

15.4.21.20 DhGripInit — Initialize DH electric gripper

Explanation	It is the command to initialize PGI-140-80 series electric grippers.
Definition	DhGripInit(ID Time_wait); ID, data type: Int variable, the electric gripper ID that controls the movement of the electric gripper. Time_wait, data type: double variable, unit: s, range: 0−10.
Example

15.4.21.21 DhGripGetStatus — Get DH electric gripper status

Explanation	It is the command to get the status of DH PGI-140-80 series electric grippers.
Definition	DhGripGetStatus( ID, Pos, gOBJ); ID, data type: Int variable, the electric gripper ID that controls the movement of the electric gripper. Pos, data type: Int variable, position of electric grippers, range: 0−1000. gOBJ, data type: Int variable, contact status of electric grippers, 0: the electric gripper is moving; 1: the electric gripper arrives at the target position; 2: the electric gripper grasps the object; 3: the object falls; 4. the current ID is not initialized successfully.
Example

15.4.21.22 DhGripMove — Control DH electric gripper

Explanation	It is the command to move DH PGI-140-80 series electric grippers.
Definition	DhGripMove(ID, Pos, Vel, Trq); ID, data type: Int variable, the electric gripper ID that controls the movement of the electric gripper. Pos, data type: Int variable, position of electric grippers, range: 0−1000. Vel, data type: Int variable, velocity of electric grippers, range: 1−100. Trq, data type: Int variable, output torque of electric grippers, range: 20−100.
Example

15.4.21.23 XPRS485Init

Explanation	Initialize the RS485 communication parameters (baud rate, parity, and stop bits) of the xPanel end-effector. For AR models, a reboot is required after configuration for the settings to take effect.
Definition	XPRS485Init(baud, check_bit, stop_bit); baud, data type: Int, end-effector RS485 baud rate. Supported baud rates differ by model: AR: 4800, 9600, 19200, 38400, 57600, 115200, 2500000; Other models: 9600, 19200, 38400, 57600, 115200, 230400, 460800, 1000000, 2000000. check_bit, data type: String, parity bit. Supported values: "none" (no parity), "odd" (odd parity), "even" (even parity). stop_bit, data type: String, stop bit. Supported values: "stopbit1" (1 stop bit), "stopbit2" (2 stop bits).
Example

15.4.21.24 XPRS485Overtime

Explanation	Set the RS485 communication timeout of the xPanel end-effector.
Definition	XPRS485Overtime(overtime_ms); overtime_ms, data type: Int, RS485 communication timeout in ms, range: 50~10000.
Example

15.4.21.25 XPRWCoil

Explanation	Read/write Modbus coils or discrete inputs via the RS485 on the xPanel end-effector.
Definition	XPRWCoil(slave_addr, fun_cmd, coil_addr, num, data_array [, if_crc_reverse]); slave_addr, data type: Int, address of the slave device connected to the end-effector, range: 0~65535. fun_cmd, data type: Int, function code, valid values: 0x01, 0x02, 0x05, and 0x0F; other values are invalid. coil_addr, data type: Int, start address of the coil or discrete input, range: 0~65535. num, data type: Int, number of consecutive coils/discrete inputs to read or write. This value is invalid when the function code is 0x05. Valid ranges: CR/ER/SR: [1,48] when end-effector firmware version < 301; [1,944] when ≥ 301; AR: [1,432]. data_array, data type: Bool array, read/write buffer. When the function code is 0x05, only [0] of this array is used. For other function codes, the array length must match num; otherwise, an error is reported. if_crc_reverse, data type: Bool, optional parameter, whether to reverse the high and low bytes of the CRC checksum, default false. Keep the default for most devices; some devices require CRC byte reversal, or communication will fail.
Example

15.4.21.26 XPRWRegister

Explanation	Read/write Modbus RTU registers via the RS485 on the xPanel end-effector (read holding/input registers, or write holding registers).
Definition	XPRWRegister(slave_addr, fun_cmd, reg_addr, data_type, num, data_array [, if_crc_reverse]); slave_addr, data type: Int, address of the slave device connected to the end-effector, range: 0~65535. fun_cmd, data type: Int, function code, valid values: 0x03, 0x04, 0x06, and 0x10; other values are invalid. reg_addr, data type: Int, start address of the register, range: 0~65535. data_type, data type: String, supported types: "int16", "uint16", "int32", and "uint32". num, data type: Int, number of consecutive registers in a single operation. This parameter is invalid when the function code is 0x06. Valid ranges: CR/ER/SR: when end-effector firmware version < 301, 16-bit is [1,3] and 32-bit is 1; when ≥ 301, 16-bit is [1,59] and 32-bit is [1,29]; AR: 16-bit is [1,27], 32-bit is [1,13]. data_array, data type: numeric array. The specific type is determined by data_type. When the function code is 0x06, only [0] of this array is used. For other function codes, the array length must match num; otherwise, an error is reported. if_crc_reverse, data type: Bool, optional parameter, whether to reverse the high and low bytes of the CRC checksum, default false. Keep the default for most devices; some devices require CRC byte reversal, or communication will fail.
Example

15.4.21.27 XPRS485RWData

Explanation	Send and receive raw RTU protocol bytes via the RS485 on the xPanel end-effector (not Modbus-framed).
Definition	XPRS485RWData(send_byte_len, send_data, rev_byte_len, rev_data, ret); send_byte_len, data type: Int, number of bytes to send. The maximum length depends on the xPanel type: for CR/ER/SR series, up to 128 bytes when end-effector firmware version ≥ 301, and up to 16 bytes for earlier versions; for non-customized AR series, up to 64 bytes. send_data, data type: Byte array, raw decimal data to send. Its length must match send_byte_len; otherwise, the parameter is invalid. rev_byte_len, data type: Int, number of bytes expected to receive. The valid range follows the same limits as the send byte length. rev_data, data type: Byte array, receive buffer. Before calling, its length must match rev_byte_len. ret, data type: Int, return value: –1 indicates transmission failure; 0 indicates successful transmission.
Example

15.4.21.28 XPCANInit

Explanation	Initialize the CAN communication baud rates of the xPanel end-effector. Currently supported only on AR models. A reboot is required after configuration for the settings to take effect.
Definition	XPCANInit(arbitration_baud, data_baud); arbitration_baud, data type: Int, arbitration baud rate. Valid values: 1000000 (1M), 500000 (500k), 250000 (250k), 125000 (125k). data_baud, data type: Int, data baud rate. Valid values: 5000000 (5M), 4000000 (4M), 2000000 (2M), 1000000 (1M).
Example

15.4.21.29 CANReceiveData

Explanation	Receive raw CAN protocol data via the xPanel end-effector. The command fails if no data is received before timeout.
Definition	CANReceiveData(timeout_ms, data_type, frame_id, frame_format, frame_type, data, frame_valid_length); timeout_ms, data type: Int, receive timeout in ms. data_type, data type: String, received data type. Supported values: "int16", "uint16", and "uint8". frame_id, data type: Int, received CAN frame ID. frame_format, data type: Int, received frame format: 0 for standard frame (STANDARD), 1 for extended frame (EXTENDED). frame_type, data type: Int, received frame type: classic CAN, CANFD, or CANFD accelerated. data, data type: Int array, received CAN frame data, interpreted according to data_type. frame_valid_length, data type: Int, valid data length (number of elements). It must match the length of data.
Example

15.4.21.30 CANSendData

Explanation	Send raw CAN protocol data via the xPanel end-effector.
Definition	CANSendData(data_type, frame_id, frame_format, frame_type, data, frame_valid_length); data_type, data type: String, send data type. Supported values: "int16", "uint16", and "uint8". frame_id, data type: Int, CAN frame ID to send. frame_format, data type: Int, frame format: 0 for standard frame (STANDARD), 1 for extended frame (EXTENDED). frame_type, data type: Int, frame type: classic CAN, CANFD, or CANFD accelerated. data, data type: Int array, CAN frame data to send. Its length must equal frame_valid_length. frame_valid_length, data type: Int, valid data length (number of elements). The valid range depends on the frame type and data_type: Classic CAN + uint8: [1,8]; Classic CAN + int16/uint16: [1,4]; CANFD / CANFD accelerated + uint8: [1,8], or 12/16/20/24/32/48/64; CANFD / CANFD accelerated + int16/uint16: [1,4], or 6/8/10/12/16/24/32.
Example