API Reference

RobotiqGripper

class pyrobotiqgripper.RobotiqGripper(com_port='auto', device_id=9, connection_type='RTU', tcp_host='127.0.0.1', tcp_port=54321, baudrate=115200, debug=False, **kwargs)[source]

Bases: object

Class use to control Robotiq grippers (2F85, 2F140 or hande).

This class provides methods to initialize, open, close, and monitor the gripper.

Physical connection

The physical connection with the gripper can done in 2 ways: - Connected to the PC via the USB/RS485 adapter. - Connected to the UR robot: In this case the UR RS485 URCAP needs to be installed on the robot controller.

Modbus RTU/TCP communication

Modbus RTU function code supported by robotiq gripper

Description	Modbus function code
Read registers	4
Write registers	16
Master read & write multiple registers	23

For more information for gripper communication please check gripper manual on Robotiq website. https://robotiq.com/support/2f-85-2f-140

Note

This class cannot be use to control epick, 3F or powerpick.

__init__(com_port='auto', device_id=9, connection_type='RTU', tcp_host='127.0.0.1', tcp_port=54321, baudrate=115200, debug=False, **kwargs)[source]

Create a RobotiqGripper object which can be use to control Robotiq grippers using modbus RTU protocol USB/RS485 connection.

Parameters:

com_port (str) – COM port to which the gripper is connected. If “auto” (or equal to the constant AUTO_DETECTION), the library will try to find the COM port to which the gripper is connected. On Windows, COM ports are named COM1, COM2, etc. On Linux, COM ports are named /dev/ttyUSB0, /dev/ttyUSB1, etc. Default is AUTO_DETECTION.
device_id (int) – Address of the gripper (integer) usually 9.
gripper_type (str) – Type of the gripper. Currently only “2F” is supported. Default is “2F”.
connection_type (str) – Type of connection to the gripper. “RTU” (or equal to the constant GRIPPER_MODE_RTU) for direct Modbus RTU connection (e.g. via USB/RS485 adapter). “RTU_VIA_TCP” (or equal to the constant GRIPPER_MODE_RTU_VIA_TCP) for Modbus RTU connection via TCP (e.g. when using the UR RS485 URCAP). Default is “RTU”.
tcp_host (str) – Host IP address for TCP connection. Default is “127.0.0.1”
tcp_port (int) – Port number for TCP connection. Default is 54321.
baudrate (int) – Gripper communication baudrate.
debug (bool) – If True, enable debug logging for Modbus communication. Default is False.

Examples

Gripper connected at PC USB port:

>>> import pyrobotiqgripper as rq
>>> gripper = rq.RobotiqGripper(connection_type=rq.GRIPPER_MODE_RTU)
>>> gripper.connect()
>>> gripper.activate()
>>> gripper.start()
>>> gripper.open()
>>> gripper.close()
>>> gripper.move(100) #Move at position 100 in bit
>>> print(gripper.position()) #Print gripper position in bit
>>> gripper.calibrate_mm(closemm=0,openmm=85) #Calibrate the gripper with 0mm when closed and 85mm when open
>>> gripper.move_mm(50) #Move at position 50mm
>>> gripper.printStatus() #Print gripper status information in the python terminal
>>> print(gripper.positionmm()) #Print gripper position in mm

Gripper connected to UR robot via RS495 URCAP (RTU over TCP):

>>> import pyrobotiqgripper as rq
>>> gripper = rq.RobotiqGripper(connection_type=rq.GRIPPER_MODE_RTU_VIA_TCP,tcp_host="192.168.1.100")
>>> gripper.connect()
>>> gripper.activate()
>>> gripper.start()
>>> gripper.open()

Parameters:

com_port (str)
device_id (int)
connection_type (str)
tcp_host (str)
tcp_port (int)
debug (bool)

Setup

RobotiqGripper.connect()[source]: Connect to the gripper. If the connection is already established, do nothing.

RobotiqGripper.disconnect()[source]: Disconnect from the gripper. If the connection is already closed, do nothing.

RobotiqGripper.reset()[source]: Reset the gripper (clear previous activation and calibration if any)

RobotiqGripper.activate(reset=True, start=True, refreshStatus=True)[source]

Activate the gripper if it is not already active.

Parameters:

reset (bool) – Whether to reset the gripper before activation.
start (bool) – Whether to start the gripper motion immediately after activation (gGTO set to 1).
refreshStatus (bool) – Whether to refresh the gripper status before the activation process. The status information is used to determine if the gripper is already activated. Setting this parameter to False can make the activation faster if you are sure the gripper status is up to date.

Warning

When you execute this function, the gripper will fully open and close. During this operation, the gripper must be able to move freely. Do not place any object inside the gripper.

RobotiqGripper.start(refreshStatus=True, readStatus=True)[source]

Start the gripper motion.

The GTO bit is set to 1. The gripper will move to the position command if it is not already there.

Parameters:

refreshStatus (bool) – Whether to refresh the gripper status before the start process. The status information is used to determine if the gripper is already started. Setting this parameter to False can make the start process faster if you are sure the gripper status is up to date.
readStatus (bool) – Whether to read the gripper status while sending the start command.

RobotiqGripper.stop(refreshStatus=True, readStatus=True)[source]

Gripper stop moving. GTO bit is set to 0 but the position command is not changed. The gripper will stop at its current position and hold it.

Parameters:

refreshStatus (bool, optional) – Whether to refresh the gripper status before deciding whether to preserve the activation bit. Defaults to True.
readStatus (bool, optional) – If True, read fresh gripper status in the same Modbus transaction as the stop write (function code 23). If False, only the stop is written (function code 16). Defaults to True.

RobotiqGripper.calibrate_bit(openbit=None, closebit=None)[source]

Calibrate the maximum and minimum position bit values of the gripper.

This function sets the reference positions for the gripper in bits. If no parameters are provided, the gripper will perform a full open followed by a full close to measure the maximum and minimum positions.

Parameters:

openbit (int, optional) – Position value in bits when the gripper is open.
closebit (int, optional) – Position value in bits when the gripper is closed.

Warning

If no parameters are provided, the gripper will make a full open followed by a full close to measure the maximum and minimum positions in bits. Ensure the gripper can move freely during this operation.

RobotiqGripper.calibrate_speed(minSpeedClosingTime=None, maxSpeedClosingTime=None)[source]

Calibrate gripper speed to estimate gripper position over time.

If no parameters are provided, the gripper will perform a full-speed closing and a slow-speed closing to evaluate its motion. Bit calibration will also be performed.

Parameters:

minSpeedClosingTime (float, optional) – Time in seconds for the gripper to move from fully open to fully closed at minimum speed.
maxSpeedClosingTime (float, optional) – Time in seconds for the gripper to move from fully open to fully closed at maximum speed.

Warning

If no parameters are provided, the gripper will perform a full-speed closing and a slow-speed closing to evaluate its motion. Ensure the gripper can move freely during this operation.

RobotiqGripper.calibrate_mm(closemm, openmm)[source]

Calibrate the gripper for millimeter positioning.

Once this calibration is done, it is possible to control the gripper using millimeters.

Parameters:

closemm (float) – Distance between the fingers when the gripper is fully closed.
openmm (float) – Distance between the fingers when the gripper is fully open.

Warning

Bit calibration is required before executing this function. If the bit calibration is not done, the function calibrate_bit() will be executed automatically before calibrating in millimeters.

Control

RobotiqGripper.open(speed=255, force=255, wait=True, readStatus=True, refreshStatus=False)[source]

Open the gripper.

Parameters:

speed (int, optional) – Gripper speed between 0 and 255. Defaults to 255.
force (int, optional) – Gripper force between 0 and 255. Defaults to 255.
wait (bool, optional) – If True, the function waits until the gripper reaches the requested position or detects an object. Defaults to True.
readStatus (bool, optional) – If True, the gripper status is read after sending the command. Defaults to True.
refreshStatus (bool, optional) – If True, the gripper status is refreshed before sending the command. The status information is used to determine if the gripper is already activated. Setting this parameter to False can make the command process faster if the gripper status is up to date. Defaults to False.

RobotiqGripper.close(speed=255, force=255, wait=True, readStatus=True, refreshStatus=False, start=False)[source]

Close the gripper.

Parameters:

speed (int, optional) – Gripper speed between 0 and 255. Defaults to 255.
force (int, optional) – Gripper force between 0 and 255. Defaults to 255.
wait (bool, optional) – If True, the function waits until the gripper reaches the requested position or detects an object. Defaults to True.
readStatus (bool, optional) – If True, the gripper status is read after sending the command. Defaults to True.
refreshStatus (bool, optional) – If True, the gripper status is refreshed before sending the command. The status information is used to determine if the gripper is already activated. Setting this parameter to False can make the command process faster if the gripper status is up to date. Defaults to False.
start (bool, optional) – If True, the activation and go-to bits are combined with this move in a single Modbus transaction instead of requiring a separate start() call first. The gripper must already be activated (activate() called at least once). Defaults to False.

RobotiqGripper.open_mm()[source]: Return distance between fingers in open position

RobotiqGripper.close_mm()[source]: Return distance between fingers in open position

RobotiqGripper.move(position, speed=255, force=255, wait=True, readStatus=True, refreshStatus=False, start=False)[source]

Move gripper fingers to the requested position with specified speed and force.

Parameters:

position (int) – Target position of the gripper. Must be between 0 and 255, where 0 represents fully open and 255 represents fully closed.
speed (int, optional) – Gripper speed between 0 and 255. Defaults to 255.
force (int, optional) – Gripper force between 0 and 255. Defaults to 255.
wait (bool, optional) – If True, the function waits until the gripper reaches the requested position or detects an object. Defaults to True.
readStatus (bool, optional) – If True, the gripper status is read after sending the command. Defaults to True.
refreshStatus (bool, optional) – If True, the gripper status is refreshed before sending the command. The status information is used to determine if the gripper is already activated. Setting this parameter to False can make the command process faster if the gripper status is up to date. Defaults to False.
start (bool, optional) – If True, the activation and go-to bits are combined with this move in a single Modbus transaction instead of requiring a separate start() call first. The gripper must already be activated (activate() called at least once). Defaults to False.

Examples

Combine start() and move() in a single Modbus transaction:

>>> gripper.activate()
>>> gripper.move(200, speed=150, force=100, start=True)

RobotiqGripper.move_mm(positionmm, speed=255, force=255, wait=True, readStatus=True, refreshStatus=False)[source]

Move the gripper to the requested opening in millimeters.

Parameters:

positionmm (float) – Target gripper opening in millimeters.
speed (int, optional) – Gripper speed between 0 and 255. Defaults to 255.
force (int, optional) – Gripper force between 0 and 255. Defaults to 255.
wait (bool, optional) – If True, the function waits until the gripper reaches the requested position or detects an object. Defaults to True.
readStatus (bool, optional) – If True, the gripper status is read after sending the command. Defaults to True.
refreshStatus (bool, optional) – If True, the gripper status is refreshed before sending the command. The status information is used to determine if the gripper is already activated. Setting this parameter to False can make the command process faster if the gripper status is up to date. Defaults to False.

Note

Millimeter calibration is required to use this function. Execute the function calibrate_mm() before using this function.

RobotiqGripper.moveToCurrentPosition(speed=None, force=None)[source]

Move the gripper to its current position. This has the effect to stop the gripper while keeping it started. It is more flexible than jsut stopping the gripper.

Parameters:

speed (int) – Gripper speed parameter value to move to current position
force (int) – Gripper force parameter value to move to current position

Realtime Control

RobotiqGripper.realTimePositionMove(controlSignal, controlBuffer=0.05, speedLowerControlThreshold=10, speedUpperControlThreshold=30, gripSpeed=None, gripForce=None, verbose=0)[source]

Move the gripper in real time to the requested position.

Meant to be called at high frequency (e.g. 100 Hz) in a non-blocking control loop for remote operation application.

Parameters:

controlSignal – Analogic position control signal in range [0,1]
controlBuffer – Dimension of the signal deadzones express in percentage of the the control signal. Deadzones are positionned at the bottom and the top of the control range.
speedLowerControlThreshold – The speed is function of the difference between current position and target position. The function is ramp that start at speedLowerControlThreshold and finish at speedUpperControlThreshold.
speedUpperControlThreshold – The speed is function of the difference between current position and target position. The function is ramp that start at speedLowerControlThreshold and finish at speedUpperControlThreshold.
gripSpeed – Speed parameter use to secure a grip when an object is detected. If used, gripForce and gripSpeed have to be both set.
gripForce – Force parameter use to secure a grip when an object is detected. If used, gripForce and gripSpeed have to be both set.
verbose (int, optional) – Verbose level for debug.

Examples

Make a loop to control the gripper using a joystick with pygame

>>> import pygame
>>> import time
>>> import pyrobotiqgripper as rq
>>> grip = rq.RobotiqGripper()
>>> pygame.init()
>>> pygame.joystick.init()
>>> js = pygame.joystick.Joystick(0)
>>> js.init()
>>> while True:
>>>     positionSignal = js.get_axis(0)
>>>     pygame.event.pump()
>>>     grip.realTimePositionMove(positionSignal)

RobotiqGripper.realTimePositionMove_Mode()[source]

Return the mode of the realTimePositionMove function

Returns:

Control mode code. See constants for details.: REALTIME_POSITION_MOVE_MODE_FREEMOVE = 0 REALTIME_POSITION_MOVE_MODE_OBJECT_DETECTED_CLOSING = 100 REALTIME_POSITION_MOVE_MODE_FORCE_DEACTIVATED_CLOSING = 101 REALTIME_POSITION_MOVE_MODE_FORCE_ACTIVATED_CLOSING = 102 REALTIME_POSITION_MOVE_MODE_OBJECT_DETECTED_OPENING = 200 REALTIME_POSITION_MOVE_MODE_FORCE_DEACTIVATED_OPENING = 201 REALTIME_POSITION_MOVE_MODE_FORCE_ACTIVATED_OPENING = 202

Return type:

control_mode (int)

RobotiqGripper.realTimeSpeedMove(controlSignal, controlBuffer=0.05, gripSpeed=None, gripForce=None, verbose=0)[source]

Move the gripper with a speed signal.

Meant to be called at high frequency (e.g. 100 Hz) in a non-blocking control loop for remote operation application.

Parameters:

controlSignal (float) – Analogic signal in the range [-1, 1] use to control gripper speed. Positive closes the gripper, negative opens it, 0 holds the current position. Magnitude controls the commanded speed.
controlBuffer (float) – controlSignal deadzone express in percentage of the control range (Joystick position range between -1 and 1). The deadzone is positionned at the center of the control range.
gripSpeed – Speed parameter use to secure a grip when an object is detected. If used, gripForce and gripSpeed have to be both set.
gripForce – Force parameter use to secure a grip when an object is detected. If used, gripForce and gripSpeed have to be both set.
verbose (int, optional) – Verbose level for debug.

Examples

Make a loop to control the gripper using a joystick with pygame

>>> import pygame
>>> import time
>>> import pyrobotiqgripper as rq
>>> grip = rq.RobotiqGripper()
>>> pygame.init()
>>> pygame.joystick.init()
>>> js = pygame.joystick.Joystick(0)
>>> js.init()
>>> while True:
>>>     speedSignal = js.get_axis(0)
>>>     pygame.event.pump()
>>>     grip.realTimeSpeedMove(speedSignal)

RobotiqGripper.realTimeSpeedMove_Mode()[source]: Return the mode of the realTimeSpeedMove function

Status

RobotiqGripper.isActivated(refreshStatus=True)[source]

Check whether the gripper is activated.

Parameters:: refreshStatus (bool, optional) – Whether to refresh the gripper status before checking the activation state. The status information is used to determine if the gripper is already activated. Setting this parameter to False can make the check faster if the gripper status is up to date. Defaults to True.
Returns:: True if the gripper is activated, False if not activated, None if there is no available information to confirm gripper activation status
Return type:: bool

RobotiqGripper.isStarted(refreshStatus=True)[source]

Check whether the gripper is started.

Returns:: True if the gripper is started, False if not started, None is there is not enough information to confirm if the gripper is started.
Return type:: bool

RobotiqGripper.is_bit_calibrated()[source]

Check whether the gripper is bit calibrated (ie. the gripper know its position in bit when fully open and fully closed).

Returns:: True if the gripper is bit calibrated, False otherwise.
Return type:: bool

RobotiqGripper.is_mm_calibrated()[source]

Check whether the gripper millimeter (mm) calibration is done.

Returns:: True if the gripper is mm calibrated, False otherwise.
Return type:: bool

RobotiqGripper.positioningResolution()[source]: Return the gripper positionning resolution in mm/bit. The number of mm the gripper will move if its position parameter vary of 1 bit.

RobotiqGripper.is_speed_calibrated()[source]

Check whether the gripper speed calibration is done.

Returns:: True if the gripper speed is calibrated, False otherwise.
Return type:: bool

RobotiqGripper.gripper_vmax_bits()[source]

Return the maximum gripper speed in bits per second.

Returns:: Maximum gripper speed in bits per second.
Return type:: int

RobotiqGripper.gripper_vmin_bits()[source]

Return the minimum gripper speed in bits per second.

Returns:: Minimum gripper speed in bits per second.
Return type:: int

RobotiqGripper.minSpeedMmSecond()[source]: Return the minimum gripper speed in mm/s

RobotiqGripper.maxSpeedMmSecond()[source]: Return the maximum gripper speed in mm/s

RobotiqGripper.speedResolutionBit()[source]: Return the speed resultion in gripper position bit/s per gripper speed bit. Correspond to the speed increase if speed parameter vary of 1 bit.

RobotiqGripper.speedResolutionMm()[source]: Return the speed resultion in mm/s per bit. This correspond the speed increase in mm/s if the speed parameter vary of 1 bit

RobotiqGripper.positionCommand()[source]

Return the last commanded position value.

Returns:: The last position command value (0-255), or None if the history is empty.
Return type:: int | None

RobotiqGripper.position(refreshStatus=True)[source]

Return the current position of the gripper in bits.

Parameters:: refreshStatus (bool, optional) – Whether to refresh the gripper status before getting the position. The status information is used to determine the current position. Setting this parameter to False can make the retrieval faster if the gripper status is already up to date. Defaults to True.
Returns:: Current gripper position in bits (0-255), or None if history is empty.
Return type:: int | None

RobotiqGripper.position_mm(refreshStatus=True)[source]

Return the current position of the gripper in millimeters.

Parameters:: refreshStatus (bool, optional) – Whether to refresh the gripper status before getting the position. The status information is used to determine the current position. Setting this parameter to False can make the retrieval faster if the gripper status is already up to date. Defaults to True.
Returns:: Current gripper position in millimeters.
Return type:: float

Note

Calibration is required to use this function. Execute the calibration function at least once before using this function.

RobotiqGripper.lastMoveTime()[source]: Return the time of gripper last move

RobotiqGripper.lastMoveDirection()[source]

Return the last direction of movement of the gripper based gripper position history

Returns:: Last direction of movement. 1 for closing, -1 for opening, 0 if unknown.
Return type:: int

RobotiqGripper.speed()[source]

Return the last set speed parameter value.

Returns:

int or None: The last speed value set (0-255), or None if history is empty.

RobotiqGripper.force()[source]

Return the last set force paramater value.

Returns:: The last force value set (0-255), or None if the history is empty.
Return type:: int | None

RobotiqGripper.objectDetection(refreshStatus=True)[source]

Return object detection code gOBJ

Even if the refreshStatus is not requested, it will be done if the status have never been retrieved.

Parameters:

refreshSatus (boolean) – Indicate if the object detection status is directly retrieved from the gripper or if it is taken from the last previously read status.

Returns:

Object detection status code.

0: Fingers in motion, no object detected
1: Fingers stopped while opening, object detected
2: Fingers stopped while closing, object detected
3: Fingers at requested position, no object detected or lost/dropped

Return type:

int

RobotiqGripper.printObjectDetection(refreshStatus=True)[source]: Print object detection status in a human readable way

RobotiqGripper.readStatus()[source]: Retrieve gripper output register information and save it in the status history.

RobotiqGripper.lastStatusReadTime()[source]

RobotiqGripper.status(refreshStatus=True)[source]

Return the current gripper status as a dictionary.

Parameters:: refreshStatus (bool, optional) – Whether to read fresh status from the gripper. Defaults to True.
Returns:: A dictionary containing current status values for all registers.
Return type:: dict

RobotiqGripper.printStatus(refreshStatus=True)[source]

Print gripper status info in the Python terminal.

Parameters:: refreshStatus (bool, optional) – Whether to read fresh status from the gripper before printing. Defaults to False. If you are sure that the status information is up to date, setting this parameter to False can make the printing faster.

Examples

>>> grip.move(100)
>>> grip.print_status()

Output:

======================================================================
                    GRIPPER STATUS
======================================================================

gOBJ : 3
└─ Fingers are at requested position. No object detected or object has been lost / dropped.

gSTA : 3
└─ Activation is completed.

gGTO : 1
└─ Go to Position Request.

gACT : 1
└─ Gripper activation.

kFLT : 0
└─ 0

gFLT : 9
└─ Minor faults (LED continuous red). No communication during at least 1 second.

gPR  : 100
└─ Echo of the requested position for the Gripper: 100/255

gPO  : 100
└─ Actual position of the Gripper obtained via the encoders: 100/255

gCU  : 0
└─ The current is read instantaneously from the motor drive, approximate current: 0 mA

======================================================================

RobotiqGripper.commandHistoryPanda()[source]

Return the gripper command history as a pandas DataFrame.

Returns:

A DataFrame containing the command history with columns for: time and various command registers (rARD, rATR, etc.).

Return type:

pd.DataFrame

RobotiqGripper.statusHistoryPanda()[source]

Return the gripper status history as a pandas DataFrame.

Returns:

A DataFrame containing the status history with columns for: time and various status registers (gOBJ, gSTA, etc.).

Return type:

pd.DataFrame

RobotiqGripper.historyPanda()[source]

Return the merged command and status history as a pandas DataFrame. The first line of the DataFrame corresponds to the odlest command or status entry, the last line corresponds to the most recent command or status entry.

Returns:

A DataFrame containing the merged history with columns for: time, commands, and status values.

Return type:

pd.DataFrame

RobotiqGripper.commandHistory()[source]

Return the gripper command history as a numpy array.

Warning

This function keep reference of the commandHistory source array. If you want to edit the value of the return numpy array make a copy of it. commandHistory().copy()

Returns:

A numpy array containing the status history.

Columns are

0 -> “time” 1 -> “rARD” 2 -> “rATR” 3 -> “rGTO” 4 -> “rACT” 5 -> “rPR” 6 -> “rSP” 7 -> “rFR”

The constant dictionnaries can be use to converter column id into parameter name or column name into column id.

COMMAND_HISTORY_COLUMNS_ID_2_NAME COMMAND_HISTORY_COLUMNS_NAME_2_ID

Return type:

numpy array

RobotiqGripper.statusHistoryNumpy()[source]

Return the gripper status history as a numpy array.

Warning

This function keep reference of the statusHistory source array. If you want to edit the value of the return numpy array make a copy of it. statusHistoryNumpy().copy()

Returns:

A numpy array containing the status history.

Columns are

0 -> “time” 1 -> “gOBJ” 2 -> “gSTA” 3 -> “gGTO” 4 -> “gACT” 5 -> “kFLT” 6 -> “gFLT” 7 -> “gPR” 8 -> “gPO” 9 -> “gCU”

The constant dictionnaries can be use to converter column id into parameter name or column name into column id.

STATUS_HISTORY_COLUMNS_ID_2_NAME STATUS_HISTORY_COLUMNS_NAME_2_ID

Return type:

numpy array

RobotiqGripper.historyNumpy()[source]

Return the merged command and status history as a numpy array. The first line of the array corresponds to the odlest command or status entry, the last line corresponds to the most recent command or status entry.

Returns:

A numpy array containing the merged history.

Columns are

0 -> “time” 1 -> “rARD” 2 -> “rATR” 3 -> “rGTO” 4 -> “rACT” 5 -> “rPR” 6 -> “rSP” 7 -> “rFR” 8 -> “gOBJ” 9 -> “gSTA” 10 -> “gGTO” 11 -> “gACT” 12 -> “kFLT” 13 -> “gFLT” 14 -> “gPR” 15 -> “gPO” 16 -> “gCU”

The constant dictionnaries can be use to converter column id into parameter name or column name into column id.

HISTORY_COLUMNS_ID_2_NAME HISTORY_COLUMNS_NAME_2_ID

Return type:

numpy array

Additional Tools

These tools are not required to control a gripper: they support experimenting with and debugging the realtime control features (see Realtime usage).

Mouse Joystick

class pyrobotiqgripper.mouse_joystick.MouseJoystick(deadzone=0, output_range='signed')[source]

Bases: object

Reports mouse position as two axes, each with a dead zone centered on the screen, sized as a fraction of the corresponding screen dimension.

Axis 0 (AXIS_X): horizontal position, -1 (left) to 1 (right). Axis 1 (AXIS_Y): vertical position, 1 (top) to -1 (bottom).

Parameters:

deadzone (float)
output_range (str)

__init__(deadzone=0, output_range='signed')[source]

Parameters:

deadzone (float, optional) – Fraction (0-1) of the screen dimension, centered on the middle of the screen, that reports 0 for that axis. Defaults to 0.10 (10%).
output_range (str, optional) – Range reported by get_axis(): "signed" for [-1, 1] (default, matching pygame.joystick.Joystick.get_axis()), or "unsigned" for [0, 1].

stop()[source]

Stop the background listener and release the OS-level mouse hook.

Call this before the process exits: a live low-level mouse hook (installed by the listener) has its callback run on this listener thread, competing for the GIL with anything else happening during shutdown; leaving it running until the process fully terminates can make the whole system’s mouse input feel laggy in the meantime.

Return type:: None

get_axis(axis)[source]

Return the requested axis value, in [-1, 1] or [0, 1] depending on output_range.

Parameters:: axis (int) – AXIS_X (0) for horizontal position, AXIS_Y (1) for vertical position.

pyrobotiqgripper.mouse_joystick.AXIS_X: Axis index for the horizontal mouse position, for use with get_axis().

pyrobotiqgripper.mouse_joystick.AXIS_Y: Axis index for the vertical mouse position, for use with get_axis().

Joystick Visual Tool

Requires the optional PySide6 package, included in the all extra (uv add "pyrobotiqgripper[all]"). Generic over any joystick-like object exposing get_axis(axis) – MouseJoystick or a real pygame.joystick.Joystick.

class pyrobotiqgripper.joystick_visual_tool.JoystickVisualTool(joystick, axis=0, output_range='unsigned', refresh_interval_ms=33, bar_height=48, anchor='bottom')[source]

Bases: object

Thin, full-screen-width overlay bar showing a live marker position and optional colored control zones.

Dedicated to a joystick-like object, given at construction: the marker tracks joystick.get_axis(axis) on its own (polled on this visualizer’s own timer – a caller never pushes marker updates itself). A caller may still define colored zones behind the marker via add_control_zone() / clear_control_zones(). Runs entirely on the shared background Qt thread (see pyrobotiqgripper.qt_app_host), started and stopped explicitly with start() and stop(), so calling add_control_zone() from a control loop costs at most a lock-protected list update – nothing on that hot path ever touches Qt directly.

Zones are always painted on a [0, 1] fraction of the bar, but a caller may hand add_control_zone() bounds expressed in whichever referential output_range selects – [0, 1] for "unsigned", [-1, 1] for "signed" – matching the range joystick.get_axis(axis) itself returns.

The bar is always click-through (clicks/hover never reach it; they pass straight to whatever’s underneath), so it never blocks normal use of the screen. To stay legible despite that, it also polls the OS-level cursor position on its own redraw timer and turns 60% transparent whenever the cursor happens to be over it, so whatever’s underneath remains visible.

Parameters:

joystick – Anything exposing get_axis(axis) -> float (e.g. MouseJoystick or a pygame.joystick.Joystick). Its live reading drives the marker.
axis (int, optional) – Axis index passed to joystick.get_axis. Defaults to 0.
output_range (str, optional) – Referential joystick.get_axis(axis) reports in, and that add_control_zone() bounds must be expressed in: "unsigned" for [0, 1] (default), or "signed" for [-1, 1].
refresh_interval_ms (int, optional) – Redraw period, in milliseconds. Defaults to 33 (~30 FPS).
bar_height (int, optional) – Height of the overlay bar, in pixels. Defaults to 48.
anchor (str, optional) – Which edge of the primary screen to pin the bar to: "top" or "bottom". Positioned against the screen’s available area (i.e. excluding the taskbar), so "bottom" sits just above the taskbar rather than under it. Defaults to "bottom", out of the way of the menu bars most applications keep at the top of their window.

Warning

Requires the optional PySide6 package (pip install PySide6).

Warning

See the same PySide6/background-thread shutdown warning documented on GripperVisualizer: end your script with os._exit(0) after calling stop(), rather than returning normally.

Examples

>>> from pyrobotiqgripper.mouse_joystick import MouseJoystick
>>> from pyrobotiqgripper.joystick_visual_tool import JoystickVisualTool
>>> joystick = MouseJoystick(deadzone=0, output_range="unsigned")
>>> visual_tool = JoystickVisualTool(joystick, output_range="unsigned")
>>> visual_tool.start()
>>> zone_id = visual_tool.add_control_zone(0.0, 0.05, "cyan")
>>> visual_tool.clear_control_zones()
>>> visual_tool.stop()

__init__(joystick, axis=0, output_range='unsigned', refresh_interval_ms=33, bar_height=48, anchor='bottom')[source]

Parameters:

axis (int)
output_range (str)
refresh_interval_ms (int)
bar_height (int)
anchor (str)

add_control_zone(start, end, color)[source]

Add a colored zone drawn behind the marker.

Parameters:

start (float) – Start of the zone, in this instance’s output_range referential: [0, 1] if "unsigned", [-1, 1] if "signed".
end (float) – End of the zone, in the same referential as start.
color (object) – Any Qt color spec accepted by QColor (e.g. the name "cyan", an (r, g, b)/(r, g, b, a) tuple, or a QColor instance).

Returns:

An opaque id, usable with remove_control_zone().

Return type:

int

remove_control_zone(zone_id)[source]

Remove a single zone previously added with add_control_zone().

Does nothing if zone_id isn’t currently defined.

Parameters:: zone_id (int)
Return type:: None

clear_control_zones()[source]

Remove every zone currently defined.

Meant to be called whenever a caller’s own state changes (e.g. a gripper’s control mode), right before defining a fresh set of zones for the new state.

Return type:: None

start()[source]

Start the overlay bar on the shared Qt background thread.

Does nothing if the bar is already running.

Return type:: None

stop()[source]

Close the overlay bar and stop its poll timer.

Does nothing if the bar is not running. Only this visualizer’s own window/timer are torn down; the shared Qt event loop keeps running for any other visualizer using it (see pyrobotiqgripper.qt_app_host).

Return type:: None

is_running()[source]

Return whether the overlay bar is currently running.

Returns:: True if the bar is currently open.
Return type:: bool

Gripper Visualizer

Requires the optional PySide6 package, included in the all extra (uv add "pyrobotiqgripper[all]").

class pyrobotiqgripper.visualizer.GripperVisualizer(gripper, bounded_signals=None, state_signals=None, refresh_interval_ms=100, window_title='Gripper Live State')[source]

Bases: object

Background window plotting a gripper’s live history.

The window is created and driven on a shared background Qt thread (see pyrobotiqgripper.qt_app_host), started and stopped explicitly with start() and stop(). Closing the window from the UI also tears it down.

Parameters:

gripper – The RobotiqGripper instance to read history from. Only its commandHistory() and statusHistoryNumpy() methods are called; the gripper is never written to or read live from Modbus by this class.
bounded_signals (Sequence[str], optional) – History column names initially checked on the 0-255 chart. Must be a subset of BOUNDED_SIGNALS. Defaults to DEFAULT_BOUNDED_SIGNALS (actual position, commanded speed, commanded force).
state_signals (Sequence[str], optional) – History column names initially checked on the state chart. Must be a subset of STATE_SIGNALS. Defaults to DEFAULT_STATE_SIGNALS (object detection).
refresh_interval_ms (int, optional) – Redraw period, in milliseconds. Defaults to 100.
window_title (str, optional) – Title of the visualization window. Defaults to "Gripper Live State".

Note

The timeline window shown on both charts is fixed at TIMELINE_DURATION_S (5 seconds), matching the gripper’s own history buffer (MAX_HISTORY samples at the typical 100 Hz control loop rate) and is not adjustable from the window.

Note

Pressing Space while the window is active freezes the display (the charts stop updating, and the status bar shows “Frozen…”); pressing it again resumes. Useful to pause on an interesting moment without stopping the underlying control loop.

Warning

Reading the gripper’s history buffers concurrently with whichever thread is filling them (e.g. a joystick control loop) is not lock protected. For a live debugging display this is an acceptable trade-off: at worst a single redraw reads a partially updated row.

Warning

PySide6 requires QApplication to live on a process’ main thread. This class (via pyrobotiqgripper.qt_app_host) runs it on a shared background thread instead (so the thread driving the gripper stays free), which works correctly while running, but reliably segfaults during Python’s normal interpreter shutdown once that shared host has been started, regardless of stop() having already run cleanly. This is a Qt/PySide6 limitation, not something stop() can work around. If your script calls start(), end it with os._exit(0) (after flushing stdout/stderr and any other cleanup) instead of a normal return, to skip that crash-prone shutdown sequence entirely – see how pyrobotiqgripper.joystick_cli.main() does it.

Examples

>>> import pyrobotiqgripper as rq
>>> from pyrobotiqgripper.visualizer import GripperVisualizer
>>> gripper = rq.RobotiqGripper()
>>> visualizer = GripperVisualizer(gripper)
>>> visualizer.start()
>>> # ... drive the gripper from the main thread ...
>>> visualizer.stop()

__init__(gripper, bounded_signals=None, state_signals=None, refresh_interval_ms=100, window_title='Gripper Live State')[source]

Parameters:

bounded_signals (Sequence[str] | None)
state_signals (Sequence[str] | None)
refresh_interval_ms (int)
window_title (str)

start()[source]

Start the visualization window on the shared Qt background thread.

Does nothing if the window is already running.

Return type:: None

stop()[source]

Close the window and stop its poll timer.

Does nothing if the window is not running. Only this visualizer’s own window/timer are torn down; the shared Qt event loop keeps running for any other visualizer using it (see pyrobotiqgripper.qt_app_host).

Return type:: None

is_running()[source]

Return whether the visualization window is currently running.

Returns:: True if the window is currently open.
Return type:: bool

pyrobotiqgripper.visualizer.BOUNDED_SIGNALS: History column names selectable on the 0-255 bounded chart (gPO, rPR, rSP, rFR, gPR, gCU).

pyrobotiqgripper.visualizer.DEFAULT_BOUNDED_SIGNALS: Signals checked by default on the bounded chart when none are given: actual position, commanded speed and commanded force.

pyrobotiqgripper.visualizer.STATE_SIGNALS: History column names selectable on the state chart, carrying small enumerated / flag register values (gOBJ, gSTA, gGTO, gACT, kFLT, gFLT, rARD, rATR, rGTO, rACT).

pyrobotiqgripper.visualizer.DEFAULT_STATE_SIGNALS: Signals checked by default on the state chart when none are given: object detection.

Bipper

Requires the optional sounddevice package, included in the all extra (uv add "pyrobotiqgripper[all]").

Plays a continuous tone whose beep rate speeds up as input_signal increases towards 1.0. Used by the Joystick CLI’s --bipper option to give an audio cue of grip force during realtime control.

class pyrobotiqgripper.bipper.Bipper(sample_rate=44100, volume=0.3, audio_pitch=600.0, min_beep_rate=1.5, max_beep_rate=12.0)[source]

Bases: object

__init__(sample_rate=44100, volume=0.3, audio_pitch=600.0, min_beep_rate=1.5, max_beep_rate=12.0)[source]

property input_signal

property audio_pitch

property min_beep_rate

property max_beep_rate

property volume

start()[source]: Starts background audio playback thread.

stop()[source]: Stops background audio playback thread.

Joystick CLI

Console script (pyrobotiqgripper-joystick) used to drive a gripper with a joystick or mouse from the command line. See the Joystick CLI usage guide for installation and examples; run pyrobotiqgripper-joystick --help for the full list of options.

pyrobotiqgripper.joystick_cli.main(argv=None)[source]

Entry point for the joystick CLI.

Parameters:: argv (List[str] | None)
Return type:: int

Constants

Every constant below is documented at its definition in pyrobotiqgripper/constants.py; this page just pulls those docstrings in, grouped by topic.

Communication settings

pyrobotiqgripper.constants.BAUDRATE = 115200: Default serial baudrate used for Modbus RTU communication with the gripper.

pyrobotiqgripper.constants.BYTESIZE = 8: Serial data bit size used for Modbus RTU communication with the gripper.

pyrobotiqgripper.constants.PARITY = 'N': Serial parity setting used for Modbus RTU communication ("N" = none).

pyrobotiqgripper.constants.STOPBITS = 1: Serial stop bit count used for Modbus RTU communication with the gripper.

pyrobotiqgripper.constants.TIMEOUT = 0.2: Default communication timeout, in seconds, for a Modbus request/response.

pyrobotiqgripper.constants.AUTO_DETECTION = 'auto'

auto-detect the gripper’s serial port instead of specifying one explicitly.

Type:: Sentinel value for com_port

pyrobotiqgripper.constants.GRIPPER_MODE_RTU = 'RTU'

direct Modbus RTU over a serial port.

Type:: connection_type value

pyrobotiqgripper.constants.GRIPPER_MODE_RTU_VIA_TCP = 'RTU_VIA_TCP'

Modbus RTU tunnelled over a TCP gateway.

Type:: connection_type value

pyrobotiqgripper.constants.COM_TIME = 0.016: Approximate time, in seconds, needed for one communication round-trip with the gripper. Documented for reference; not currently consumed by any calculation in this package.

History buffer

pyrobotiqgripper.constants.MAX_HISTORY = 500: Size, in rows, of the command/status history ring buffers (commandHistory(), statusHistoryNumpy()). Gives ~5s of history at a typical 100Hz control loop.

Gripper status register values (gSTA / gGTO / gOBJ / gACT)

pyrobotiqgripper.constants.GSTA_NOT_ACTIVATED = 0

gripper in reset (or automatic release) state.

Type:: gSTA value

pyrobotiqgripper.constants.GSTA_ACTIVATION_IN_PROGRESS = 1

gripper activation in progress.

Type:: gSTA value

pyrobotiqgripper.constants.GSTA_ACTIVATED = 3

gripper activation completed. Compared against in isActivated().

Type:: gSTA value

pyrobotiqgripper.constants.GGTO_STOPPED_OR_ACTIVATING = 0

gripper stopped, or performing activation/automatic release.

Type:: gGTO value

pyrobotiqgripper.constants.GGTO_GO_TO_REQUESTED_POSITION = 1

gripper going to the requested position. Compared against (alongside the rGTO command echo) in isStarted().

Type:: gGTO value

pyrobotiqgripper.constants.GOBJ_IN_MOTION = 0

fingers in motion towards the requested position, no object detected. Polling-loop exit condition in the gripper’s internal _waitComplete.

Type:: gOBJ value

pyrobotiqgripper.constants.GOBJ_DETECTED_WHILE_OPENING = 1

fingers stopped due to a contact while opening, before reaching the requested position. Drives the realtime move state machines (realTimePositionMove(), realTimeSpeedMove()) and evaluateGrip().

Type:: gOBJ value

pyrobotiqgripper.constants.GOBJ_DETECTED_WHILE_CLOSING = 2

fingers stopped due to a contact while closing, before reaching the requested position. Drives the realtime move state machines (realTimePositionMove(), realTimeSpeedMove()) and evaluateGrip().

Type:: gOBJ value

pyrobotiqgripper.constants.GOBJ_AT_POSITION = 3

fingers at the requested position, no object detected (or object lost/dropped). Checked in evaluateGrip() and objectDetection().

Type:: gOBJ value

pyrobotiqgripper.constants.GACT_RESET = 0

gripper reset.

Type:: gACT status value

pyrobotiqgripper.constants.GACT_ACTIVATE = 1

gripper activation.

Type:: gACT status value

Gripper command register values (rGTO / rACT)

pyrobotiqgripper.constants.RGTO_STOP = 0

stop. Written by stop().

Type:: rGTO command value

pyrobotiqgripper.constants.RGTO_GO_TO_REQUESTED_POSITION = 1

go to the requested position. Written by start() and move() (with start=True).

Type:: rGTO command value

pyrobotiqgripper.constants.RACT_DESACTIVATE = 0

deactivate the gripper.

Type:: rACT command value

pyrobotiqgripper.constants.RACT_ACTIVATE = 1

activate the gripper. Written by activate() and move().

Type:: rACT command value

Estimated object detection (eOBJ) values

Computed by the gripper from position/speed history (not a raw Modbus register) and stored in the eOBJ history column.

pyrobotiqgripper.constants.EOBJ_IN_MOTION = 0

default/fallback – actively closing the position error, no object condition detected.

Type:: eOBJ value

pyrobotiqgripper.constants.EOBJ_AT_POSITION = 3

position error resolved (|gPR - gPO| within tolerance).

Type:: eOBJ value

pyrobotiqgripper.constants.EOBJ_DETECTED_WHILE_OPENING = 1

consistently demanding motion while opening, axis immobile, not at a mechanical edge, not stuck-on-release – the estimated analogue of gOBJ 1, derived from history rather than the register bit.

Type:: eOBJ value

pyrobotiqgripper.constants.EOBJ_DETECTED_WHILE_OPENING_STUCK_ON_RELEASE = 4

demanding motion while opening and immobile, but the previous state shows an object was already held while closing – i.e. stuck trying to release.

Type:: eOBJ value

pyrobotiqgripper.constants.EOBJ_STUCK_AT_FULL_OPENING = 5

immobile at the minimum position boundary while still being commanded further open.

Type:: eOBJ value

pyrobotiqgripper.constants.EOBJ_DETECTED_WHILE_OPENING_SLIPPING = 9

consistently demanding motion while opening and the axis is still moving despite already holding an object – the object is compressing/slipping.

Type:: eOBJ value

pyrobotiqgripper.constants.EOBJ_DETECTED_WHILE_CLOSING = 2

consistently demanding motion while closing, axis immobile, not at a mechanical edge, not stuck-on-release – the estimated analogue of gOBJ 2, derived from history rather than the register bit.

Type:: eOBJ value

pyrobotiqgripper.constants.EOBJ_DETECTED_WHILE_CLOSING_STUCK_ON_RELEASE = 6

demanding motion while closing and immobile, but the previous state shows an object was already held while opening – i.e. stuck trying to release.

Type:: eOBJ value

pyrobotiqgripper.constants.EOBJ_STUCK_AT_FULL_CLOSING = 7

immobile at the maximum position boundary while still being commanded further closed.

Type:: eOBJ value

pyrobotiqgripper.constants.EOBJ_DETECTED_WHILE_CLOSING_SLIPPING = 8

consistently demanding motion while closing and the axis is still moving despite already holding an object – the object is compressing/slipping.

Type:: eOBJ value

pyrobotiqgripper.constants.EOBJ_CALCULATION_IMPOSSIBLE = -1

the estimate could not be computed (missing speed calibration, too little/uninitialized history, or a communication gap).

Type:: eOBJ value

Realtime position move modes

State values of realTimePositionMove_Mode().

pyrobotiqgripper.constants.REALTIME_POSITION_MOVE_MODE_FREEMOVE = 0

normal joystick-follows-signal motion, no object held.

Type:: realTimePositionMove mode

pyrobotiqgripper.constants.REALTIME_POSITION_MOVE_MODE_OBJECT_DETECTED_CLOSING = 100

an object was just detected while closing; holding position, waiting for the control signal to return toward the deadzone before force-release logic engages.

Type:: realTimePositionMove mode

pyrobotiqgripper.constants.REALTIME_POSITION_MOVE_MODE_FORCE_DEACTIVATED_CLOSING = 101

signal is back in the deadzone after a closing detection; armed, waiting for the signal to push past the deadzone again to (re-)apply grip force.

Type:: realTimePositionMove mode

pyrobotiqgripper.constants.REALTIME_POSITION_MOVE_MODE_FORCE_ACTIVATED_CLOSING = 102

actively nudging force upward to hold/ increase grip while an object remains detected while closing.

Type:: realTimePositionMove mode

pyrobotiqgripper.constants.REALTIME_POSITION_MOVE_MODE_OBJECT_DETECTED_OPENING = 200

an object was just detected while opening; holding position, waiting for the control signal to return toward the deadzone before force-release logic engages.

Type:: realTimePositionMove mode

pyrobotiqgripper.constants.REALTIME_POSITION_MOVE_MODE_FORCE_DEACTIVATED_OPENING = 201

signal is back in the deadzone after an opening detection; armed, waiting for the signal to push past the deadzone again to (re-)apply grip force.

Type:: realTimePositionMove mode

pyrobotiqgripper.constants.REALTIME_POSITION_MOVE_MODE_FORCE_ACTIVATED_OPENING = 202

actively nudging force upward to hold/ increase grip while an object remains detected while opening.

Type:: realTimePositionMove mode

pyrobotiqgripper.constants.REALTIME_POSITION_MOVE_MODE_SECURE = 300

entered instead of the OBJECT_DETECTED_* modes when no gripSpeed/gripForce override is configured; drives the gripper further into the detected object proportionally to signal until it releases back to FREEMOVE.

Type:: realTimePositionMove mode

pyrobotiqgripper.constants.REALTIME_POSITION_IN_LOWER_BUFFER = -2

sentinel for a below-range position-buffer classification. Not currently used by realTimePositionMove().

Type:: Reserved

pyrobotiqgripper.constants.REALTIME_POSITION_IN_ACTIVATION_BUFFER = -1

sentinel for an activation-range position-buffer classification. Not currently used by realTimePositionMove().

Type:: Reserved

pyrobotiqgripper.constants.REALTIME_POSITION_IN_UPPER_BUFFER = 256

sentinel for an above-range position-buffer classification. Not currently used by realTimePositionMove().

Type:: Reserved

pyrobotiqgripper.constants.REALTIME_POSITION_POSITION_DELTA_REFERENCE_LAST_AT_POSITION = 0

sentinel selecting “last at-position” as the reference point for a position-delta calculation. Not currently used by realTimePositionMove().

Type:: Reserved

pyrobotiqgripper.constants.REALTIME_POSITION_POSITION_DELTA_REFERENCE_CURRENT_POSITION = 1

sentinel selecting “current position” as the reference point for a position-delta calculation. Not currently used by realTimePositionMove().

Type:: Reserved

Realtime speed move modes

State values of realTimeSpeedMove_Mode().

pyrobotiqgripper.constants.REALTIME_SPEED_MOVE_MODE_FREEMOVE = 0

normal speed-follows-signal motion, no object held.

Type:: realTimeSpeedMove mode

pyrobotiqgripper.constants.REALTIME_SPEED_MOVE_MODE_OBJECT_DETECTED = 100

an object was just detected (closing or opening); holding, waiting for the signal to return to near-zero deadzone.

Type:: realTimeSpeedMove mode

pyrobotiqgripper.constants.REALTIME_SPEED_MOVE_MODE_FORCE_DEACTIVATED = 101

signal is back near zero after detection; armed, waiting for renewed signal magnitude to reapply force.

Type:: realTimeSpeedMove mode

pyrobotiqgripper.constants.REALTIME_SPEED_MOVE_MODE_FORCE_ACTIVATED = 102

actively nudging speed/force to hold/increase grip while an object remains detected.

Type:: realTimeSpeedMove mode

pyrobotiqgripper.constants.REALTIME_SPEED_MOVE_MODE_SECURE = 300

fallback engagement mode (no gripSpeed/ gripForce override) driving further into the object based on signal sign/magnitude.

Type:: realTimeSpeedMove mode

History table column indices

Column indices into the numpy arrays returned by commandHistory(), statusHistoryNumpy(), and historyNumpy() (command and status merged).

pyrobotiqgripper.constants.TIME = 0

time, in seconds.

Type:: Command/status history column index

pyrobotiqgripper.constants.RARD = 1

rARD (automatic release direction) register.

Type:: Command history column index

pyrobotiqgripper.constants.RATR = 2

rATR (automatic release type) register.

Type:: Command history column index

pyrobotiqgripper.constants.RGTO = 3

rGTO (go-to command) register.

Type:: Command history column index

pyrobotiqgripper.constants.RACT = 4

rACT (activation command) register.

Type:: Command history column index

pyrobotiqgripper.constants.RPR = 5

rPR (requested position) register.

Type:: Command history column index

pyrobotiqgripper.constants.RSP = 6

rSP (requested speed) register.

Type:: Command history column index

pyrobotiqgripper.constants.RFR = 7

rFR (requested force) register.

Type:: Command history column index

pyrobotiqgripper.constants.GOBJ = 1

gOBJ (object detection) register.

Type:: Status history column index

pyrobotiqgripper.constants.GSTA = 2

gSTA (activation status) register.

Type:: Status history column index

pyrobotiqgripper.constants.GGTO = 3

gGTO (go-to status) register.

Type:: Status history column index

pyrobotiqgripper.constants.GACT = 4

gACT (activation status) register.

Type:: Status history column index

pyrobotiqgripper.constants.KFLT = 5

kFLT (controller fault) register.

Type:: Status history column index

pyrobotiqgripper.constants.GFLT = 6

gFLT (gripper fault) register.

Type:: Status history column index

pyrobotiqgripper.constants.GPR = 7

gPR (requested position echo) register.

Type:: Status history column index

pyrobotiqgripper.constants.GPO = 8

gPO (actual position) register.

Type:: Status history column index

pyrobotiqgripper.constants.GCU = 9

gCU (motor current) register.

Type:: Status history column index

pyrobotiqgripper.constants.EOBJ = 10

eOBJ, the estimated object detection value computed from history – not an actual gripper register (see the EOBJ_IN_MOTION group above).

Type:: Status history column index

pyrobotiqgripper.constants.M_GOBJ = 8: Merged history table (historyNumpy()) column index for gOBJ. Used e.g. in evaluateGrip().

pyrobotiqgripper.constants.M_GSTA = 9: Merged history table column index for gSTA.

pyrobotiqgripper.constants.M_GGTO = 10: Merged history table column index for gGTO.

pyrobotiqgripper.constants.M_GACT = 11: Merged history table column index for gACT.

pyrobotiqgripper.constants.M_KFLT = 12: Merged history table column index for kFLT.

pyrobotiqgripper.constants.M_GFLT = 13: Merged history table column index for gFLT.

pyrobotiqgripper.constants.M_GPR = 14: Merged history table column index for gPR.

pyrobotiqgripper.constants.M_GPO = 15: Merged history table column index for gPO. Used e.g. in evaluateGrip().

pyrobotiqgripper.constants.M_GCU = 16: Merged history table column index for gCU.

pyrobotiqgripper.constants.M_EOBJ = 17: Merged history table column index for eOBJ.

Column name / index lookup dictionaries

pyrobotiqgripper.constants.COMMAND_HISTORY_COLUMNS_ID_2_NAME: Maps commandHistory() column index to register name.

pyrobotiqgripper.constants.COMMAND_HISTORY_COLUMNS_NAME_2_ID

register name to commandHistory() column index.

Type:: Inverse of COMMAND_HISTORY_COLUMNS_ID_2_NAME

pyrobotiqgripper.constants.STATUS_HISTORY_COLUMNS_ID_2_NAME: Maps statusHistoryNumpy() column index to register name.

pyrobotiqgripper.constants.STATUS_HISTORY_COLUMNS_NAME_2_ID

register name to statusHistoryNumpy() column index.

Type:: Inverse of STATUS_HISTORY_COLUMNS_ID_2_NAME

pyrobotiqgripper.constants.HISTORY_COLUMNS_ID_2_NAME: Maps historyNumpy() (command and status columns merged into one table) column index to register name.

pyrobotiqgripper.constants.HISTORY_COLUMNS_NAME_2_ID

register name to historyNumpy() column index.

Type:: Inverse of HISTORY_COLUMNS_ID_2_NAME

Register reference

pyrobotiqgripper.constants.REGISTER_DIC

Dictionary mapping every input/output register name to a {code: description} dict of human-readable text for each of that register’s values.

Each top-level key is a register name; its value is a dict from raw integer code to description.

Input registers (g / k prefix):

gOBJ – object detection status: 0 fingers in motion (no object detected), 1 stopped while opening (object detected), 2 stopped while closing (object detected), 3 at requested position (no object detected, or object lost/dropped).
gSTA – gripper status: 0 reset/automatic release, 1 activation in progress, 3 activation completed.
gGTO – go-to status: 0 stopped/performing activation or release, 1 go to position requested.
gACT – activation status: 0 gripper reset, 1 gripper activation.
kFLT – controller fault codes (0-255).
gFLT – gripper fault codes (0-255, with specific fault text for indices 0, 5, 7-15).
gPR – echo of requested positions (0-255).
gPO – actual positions read from the encoders (0-255).
gCU – instantaneous current from the motor drive (0-255, in mA).

Output registers (r prefix):

rARD – automatic release status: 0 closing auto-release, 1 opening auto-release.
rATR – automatic release type: 0 normal, 1 emergency auto-release.
rGTO – go-to command status: 0 stop, 1 go to requested position.
rACT – activation command: 0 deactivate gripper, 1 activate gripper (must stay on until the activation routine completes).
rPR – target positions for the gripper’s fingers (0-255).
rSP – gripper closing/opening speed (0-255).
rFR – final gripping force (0-255).