External · two-finger gripper

4.3 Two-Finger Gripper

4.3.1 Gripper Control Command

4.3.1.1 Request: request_set_limx_2fclaw_cmd

This protocol controls the gripper grasping action.

{
  "accid": "DACH_TRON2A_001",
  "title": "request_set_limx_2fclaw_cmd",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
      // If you provide the following data at the same time, the left gripper will be controlled
      "left_opening": 50,  // opening width, 0-100, dimensionless (0 means fully closed, 100 means fully open)
      "left_speed": 50,    // gripper speed, 0-100, dimensionless (larger value means faster speed)
      "left_force": 50,   //force, gripper holding force, 0-100, dimensionless (larger value means greater force)
      
      // If you provide the following data at the same time, the right gripper will be controlled
      "right_opening": 50,  // opening width, 0-100, dimensionless (0 means fully closed, 100 means fully open)
      "right_speed": 50,    // gripper speed, 0-100, dimensionless (larger value means faster speed)
      "right_force": 50   //force, gripper holding force, 0-100, dimensionless (larger value means greater force)
  }
}

4.3.1.2 Response: response_set_limx_2fclaw_cmd

{
  "accid": "DACH_TRON2A_001",
  "title": "response_set_limx_2fclaw_cmd",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "result": "success"  // success: success, fail_motor: motor error, 
  }
}

4.3.1.3 Notification Push: None

4.3.2 Get Gripper State Information

4.3.2.1 Request: request_get_limx_2fclaw_state

{
  "accid": "DACH_TRON2A_001",
  "title": "request_get_limx_2fclaw_state",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
  }
}

4.3.2.2 Response: response_get_limx_2fclaw_state

Returns gripper state information

{
  "accid": "DACH_TRON2A_001",
  "title": "response_get_limx_2fclaw_state",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
      "timestamp": 1672373633989, // data timestamp in milliseconds
      
      "left_opening": 50,  // opening width, 0-100, dimensionless (0 means fully closed, 100 means fully open)
      "left_speed": 50,    // gripper speed, 0-100, dimensionless (larger value means faster speed)
      "left_force": 50,   //force, gripper holding force, 0-100, dimensionless (larger value means greater force)
      
      "right_opening": 50,  // opening width, 0-100, dimensionless (0 means fully closed, 100 means fully open)
      "right_speed": 50,    // gripper speed, 0-100, dimensionless (larger value means faster speed)
      "right_force": 50,   //force, gripper holding force, 0-100, dimensionless (larger value means greater force)
      
      "result": "success"  // success: success, fail_motor: motor error
  }
}

4.3.2.3 Notification Push: None