robotiq_epick_control

KO | EN

gitlite — search

#javascript #python #hacktoberfest #react #ai #typescript #llm #go #golang #android #machine-learning #rust #deep-learning #linux

robotiq_epick_control

★ 8 Open GitHub ↗

No description available.

// repository documentation

Was this content helpful?

★ 0 (0 ratings)

# Robotiq EPick

A ros node for communication with Robotiq EPick suction gripper.
This node uses RTU communication with the suction gripper. 
The code for this gripper was mostly copied from: https://github.com/ros-industrial/robotiq

## Setup
To use the gripper pymodbus package must be installed.
```bash
pip install pymodbus
```
Find the device and pass it as the frist argument when launching the file.
Easiest way is by searching:
```bash
dmesg | grep tty
```
And finding the last connected device.

You also need to add permissions to group to communicate with USB.
```bash
sudo adduser $USER dialout
```

> Note: Refer to EPick operational manual.

## Communication with EPick
Robotic_epick_node listens to **"RobotiqEPickRobotOutput"** topic for **commands** to EPick suction gripper.
The **state** of the suction gripper is updated to **"RobotiqEPickRobotInput"** topic.

To use the gripper include inputMsg and outputMsg to your ros node.
Than communicate with the gripper by posting commands to respective topics.

> Note: Partial commands are not saved. Every time we send a new command we should set all bits correctly not just the one we want to change.

> Note: Refer to end of README to understand the ros MSG.

## Using test program
To test the EPick suction gripper run the following command:

```bash
roslaunch robotiq_epick_control robotiq_EPickSimpleCOntroller_launch.launch
```
By typing the commands on the screen we may use the gripper. If we want to use it in manual mode we may change the parameters directly in the **robotiq_epick_simplecontroller_node.py** file.

### Output MSG (Gripper control)
<dl>
    <dt>uint8 rACT</dt>
    <dd>0 = clear fault</dd>
    <dd>1 = activate gripper</dd>
    <dt>uint8 rMOD</dt>
    <dd>0 = automatic mode (griper sets vacuum level, timeout, hysteresis)</dd>
    <dd>1 = advanced mode (user sets the settings)</dd>
    <dt>unit8 rGTO</dt>
    <dd>0 = stop vacuum generation</dd>
    <dd>1 = Follow the requested vacuum parameters in real time. When timeout is reached, rGTO must be re-asserted</dd>
    <dt>uint8 rATR</dt>
    <dd>0 = normal operation</dd>
    <dd>1 = Open the valves without any timeout. After an automatic release, rACT must be re-asserted</dd>
    <dt>uint8 rPR</dt>
    <dd>0 = vacume generator always on</dd>
    <dd>22-90 = grip from 100% to 10% of vacum. rPR = 90(Min device vacum: 10%) rPR = 22(Max device vacum: 78%)</dd>
    <dd>100 = Passive relese, relese to ambient pressure</dd>
    <dd>101-255 = Active relese. Release with positive preasure.</dd>
    <dt>uint8 rSP</dt>
    <dd>0-255 = timeout (1 = 100ms)</dd>
    <dt>uint8 rFR</dt>
    <dd>0-99 = object detection preasure in %</dd>
</dl>

### Input MSG (Gripper status)
<dl>
    <dt>uint8 gACT</dt>
    <dd>The gACT bit is the echo of the rACT bit in the ACTION REQUEST register</dd>
    <dt>uint8 gMOD</dt>
    <dd>The gMOD bits are the echo of the rMOD bits in the ACTION REQUEST register.</dd>
    <dt>uint8 gGTO</dt>
    <dd>The gGTO bit is the echo of the rGTO bit in the ACTION REQUEST register. Valid only if the vacuum/pressure is regulated, otherwise it
returns 0x0.</dd>
    <dt>uint8 gSTA</dt>
    <dd>The rSTA bits indicates the status of the gripper activation sequence.</dd>
    <dd>0b00 = Gripper is not activated</dd>
    <dd>0b11 = Gripper is operational.</dd>
    <dt>uint8 gOBJ</dt>
    <dd>0b00 - Unknown object detection. Regulating towards requested vacuum/pressure.</dd>
    <dd>0b01 - Object detected. Minimum vacuum value reached.</dd>
    <dd>0b10 - Object detected. Maximum vacuum value reached.</dd>
    <dd>0b11 - No object detected. Object loss, dropped or gripping timeout reached.</dd>
    <dt>uint8 gVAS</dt>
    <dd>0b00 - Standby. Vacuum generator and valves deasserted (OFF).</dd>
    <dd>0b01 - Gripping. Vacuum generator ON.</dd>
    <dd>0b10 - Passive releasing. Releasing to ambient pressure.</dd>
    <dd>0b11 - Active releasing. Releasing with positive pressure</dd>
    <dt>uint8 gFLT</dt>
    <dd>The gFLT bits indicates priority, minor or major fault codes that are useful for troubleshooting.</dd>
    <dt>uint8 gPR</dt>
    <dd>This register is the echo of the MAXIMUM VACUUM/PRESSURELEVEL REQUEST register.</dd>
    <dt>uint8 gPO</dt>
    <dd>The gPO is the actual vacuum/pressure measured in the suction cups</dd>

</dl>

robotiq_epick_control

Explore Similar Repositories

Was this content helpful?

Recent Feedback

Download README