15.4.21 End-effector commands

15.4.21.1 JodellGripInit

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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	Command to modify the basic communication parameters of the RS485 on the xPanel end-effector
Definition	XPRS485Init (baud, checkt_bit, stop_bit) baud, data type: Int, baud rate, valid values: 115200/9600/19200/38400/57600/230400/460800/1000000/2000000. checkt_bit, data type: String, check bit. stop_bit, data type: String, stop bit.
Example

15.4.21.24 XPRWCoil

Explanation	Command to read/write coils or read 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 on the end-effector. fun_cmd, data type: Int, function code, valid values: 0x01, 0x02, 0x05, and 0x0F, other values: invalid. coil_addr, data type: Int, start address of the coil or discrete input register. num, data type: Int, number of discrete inputs to read or write, valid range: 0–48 or 0–944. This value is invalid when the function code is 0x05. data_array, data type: bool, data to read/write. When the function code is 0x05, only data of this array is used. For other function codes, the input data array must have the same length as num; otherwise, an error will be reported. if_crc_reverse, data type: bool, whether the high and low bytes of the CRC checksum are changed (Generally, it is set to false. For certain devices, the high and low bytes of the CRC checksum need to be reversed; otherwise, communication will fail.) It is an optional parameter with a default of false.
Example

15.4.21.25 XPRWRegister

Explanation	Command to read holding or input registers, or write to holding registers via the RS485 on the xPanel end-effector
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 on the end-effector. fun_cmd, data type: Int, function code, valid values: 0x03/0x04/0x06/0x10, other values: invalid. reg_addr, data type: Int, start address of the register. data_type, data type: string, supported types: int16/uint16, int32/uint32, and float. num, data type: Int, number of consecutive registers in a single operation. When the data type is int16/uint16, the valid range is 0–3 or 0–59. When the data type is int32/uint32 or float, the valid range is 0–1 or 0–29. This parameter is invalid when the function code is 0x06. data_array, data type: numeric. The specific type is determined by the defined data type. When the function code is 0x06, only data of this array is used. For other function codes, the input data array must have the same length as num; otherwise, an error will be reported. if_crc_reverse, data type: bool, whether the high and low bytes of the CRC checksum are changed (Generally, it is set to false. For certain devices, the high and low bytes of the CRC checksum need to be reversed; otherwise, communication will fail.) It is an optional parameter with a default of false.
Example

15.4.21.26 XPRS485RWData

Explanation	Command to send byte and receive the returned byte via the RS485 on the xPanel end-effector
Definition	XPRS485RWData (send_byte_len, send_data, rev_byte_len, rev_data, ret) send_byte_len, data type: Int, number of bytes of data to send, valid range: 0–16 or 0–128. send_data, data type: byte, raw data in the decimal system. It must have the same length as the send_byte; otherwise, the parameter is considered invalid. rev_byte_len, data type: Int, number of bytes of data to receive, valid range: 0–16 or 0–128. rev_data, data type: byte. ret, data type: Int, return value: –1, indicating transmission failure; 0, indicating successful transmission.
Example