Python:
Gripper State Structurerm_gripper_state_t Parameter description
| Parameter | Type | Description |
|---|---|---|
enable_state | int | Gripper enabling state, 0: disable, 1: enable. |
status | int | Gripper online state, 0: offline, 1: online. |
error | int | Gripper error message, indicated by the lower 8 bits, bit5−7: reserved, bit4: internal communication, bit3: driver, bit2: overcurrent, bit1: over-temperature, bit0: locked rotor. |
mode | int | Current mode, 1: gripper fully open and idle, 2: gripper fully closed and idle, 3: gripper stopped and idle, 4: gripper in closing, 5: gripper in opening, 6: gripper stopped during closing due to force control. |
current_force | int | Current gripper force, in g. |
temperature | int | Current temperature, in °C. |
actpos | int | Gripper opening. |
Member function
Python
rm_ctypes_wrap.rm_gripper_state_t.to_dict(self,recurse = True)Return the class variables as dictionaries and, if the recurse is True, process the structure fields recursively through ctypes.