Pioneer Gripper
automatically to a connected client every client-server cycle, as well as in the client-
requested
IOpac
SIP. See your
Pioneer Operations Manual
for more details.
Table 2. User I/O DIGIN bits and meaning when attached by the Gripper
DIGIN
X
X
1 1 0
0
1 1
Grip
switch
- - Right
Paddle
Left
Paddle
Inner
Breakbeam
Outer
Breakbeam
Lift
Limit
Grip
Limit
When
1
-
- open open obstructed obstructed open open
When
0 - - closed closed clear
clear
closed closed
G
RIPPER
S
ERVERS
Rather than control the Gripper from native User I/O servers, for safety and convenience
use the set of Gripper servers that come with your controller’s embedded software to
manage the accessory. These servers automatically drive the Gripper so to achieve
some fundamental state, such as up or down, open or closed. When used by client
software, the Gripper servers monitor and report its progress towards and achievement
(or lack) of a state, saving you coding time and effort. The servers also include a timeout
feature to protect against unfortunate stalls or hang-ups.
G
RIPPER
C
LIENT
C
OMMAND
S
ET
A nearby table documents the AROS Gripper-server client command set. From a
connected client, issue the AROS GRIPPER command number 33, followed by its required
unsigned integer argument, which is the Gripper command number.
GRIPPER Command with Gripper-Server Command Argument
Commands to the Gripper servers are, for the most part, self-explanatory. For example,
to have the Gripper close its paddles, send the GRIPPER command #33 with the
GRIPclose
command argument two.
In some cases, the
GRIPPER
command requires an operating value. Use another
command to set that operating value,
immediately
following the
GRIPPER
command
that requires the value.
The value-setting Gripper command is the
GRIPPERVAL
command number #36. Make its
integer argument the preceding Gripper command's operating value.
G
RASPING
P
RESSURE
To set how hard the Gripper paddles will grasp an object, set a
grasp_time
delay, in 20
millisecond increments, for when the paddle contacts trigger (about 0.2kgs pressure) to
when the paddle drive motor stops. The default is 10 (200 milliseconds) which provides a
grasping pressure of around 0.5kg. Incrementally, the grasping pressure is roughly 0.5kg
per 200 milliseconds, to a maximum grasping pressure of around 2kg (grasp_time of 2
seconds).
LIFTC
ARRY
The
LIFTcarry
command and required
carry_time
operating parameter lets you use
the Gripper to lift or lower an object some distance between the top and bottom of the
Lift's limits.
The
grip_carry
distance is time-based, since there are no travel-encoders attached.
Accordingly, the actual Lift distance will be imprecise, depending on load, battery
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