package Kinova.Api.GripperCyclic

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Service to exchange cyclic data with gripper

@PROXY_ID=17 @ERROR=Kinova.Api.Error

• rpc Refresh (Command, Feedback)

  GripperCyclic.proto:24

  Sends a command to the gripper and receives feedback about the actual status of the gripper

  @RPC_ID=1

• rpc RefreshCommand (Command, Common.Empty)

  GripperCyclic.proto:27

  Sends a command to the gripper without receiving feedback

  @RPC_ID=2

• rpc RefreshFeedback (MessageId, Feedback)

  GripperCyclic.proto:30

  Obtains feedback from the gripper on its status

  @RPC_ID=3

• rpc RefreshCustomData (MessageId, CustomData)

  GripperCyclic.proto:33

  Obtains custom data from the gripper

  @RPC_ID=4

Command sent to a gripper

Used as request type in: GripperCyclic.Refresh, GripperCyclic.RefreshCommand

Used as field type in: InterconnectCyclic.Command

• optional MessageId command_id = 1

  MessageId

• fixed32 flags = 2

  Flags

• repeated MotorCommand motor_cmd = 3

  Array of finger commands, one for each finger of the gripper.

Custom data from gripper and gripper motors

Used as response type in: GripperCyclic.RefreshCustomData

Used as field type in: InterconnectCyclic.CustomData

• optional MessageId custom_data_id = 1

  MessageId

• optional CustomDataUnit gripper_custom_data = 2

• repeated CustomDataUnit motor_custom_data = 3

Custom data

Used in: CustomData

• fixed32 custom_data_0 = 1

  Custom data word 0

• fixed32 custom_data_1 = 2

  Custom data word 1

• fixed32 custom_data_2 = 3

  Custom data word 2

• fixed32 custom_data_3 = 4

  Custom data word 3

• fixed32 custom_data_4 = 5

  Custom data word 4

• fixed32 custom_data_5 = 6

  Custom data word 5

• fixed32 custom_data_6 = 7

  Custom data word 6

• fixed32 custom_data_7 = 8

  Custom data word 7

• fixed32 custom_data_8 = 9

  Custom data word 8

• fixed32 custom_data_9 = 10

  Custom data word 9

• fixed32 custom_data_10 = 11

  Custom data word 10

• fixed32 custom_data_11 = 12

  Custom data word 11

• fixed32 custom_data_12 = 13

  Custom data word 12

• fixed32 custom_data_13 = 14

  Custom data word 13

• fixed32 custom_data_14 = 15

  Custom data word 14

• fixed32 custom_data_15 = 16

  Custom data word 15

Status feedback from a gripper

Used as response type in: GripperCyclic.Refresh, GripperCyclic.RefreshFeedback

Used as field type in: InterconnectCyclic.Feedback

• optional MessageId feedback_id = 1

  MessageId

• fixed32 status_flags = 2

  Status flags (see GripperConfig.RobotiqGripperStatusFlags)

• fixed32 fault_bank_a = 3

  Fault bank A (see GripperConfig.SafetyIdentifier)

• fixed32 fault_bank_b = 4

  Fault bank B (see GripperConfig.SafetyIdentifier)

• fixed32 warning_bank_a = 5

  Warning bank A (see GripperConfig.SafetyIdentifier)

• fixed32 warning_bank_b = 6

  Warning bank B (see GripperConfig.SafetyIdentifier)

• repeated MotorFeedback motor = 7

Message identifier for command or feedback

Used as request type in: GripperCyclic.RefreshCustomData, GripperCyclic.RefreshFeedback

Used as field type in: Command, CustomData, Feedback

• fixed32 identifier = 1

  Message ID (first 2 bytes : device ID, last 2 bytes : sequence number)

Command to a single gripper motor

Used in: Command

• fixed32 motor_id = 1

  Motor ID (1, nb_motor)

• float position = 3

  Desired position of the gripper fingers in percentage (0-100%)

• float velocity = 4

  Desired velocity in percentage (0-100%) with which position will be set

• float force = 5

  This field is deprecated and unused. It will be removed in a future release.

Status feedback from a single gripper motor

Used in: Feedback

• fixed32 motor_id = 1

  Motor ID (1, nb_motor)

• float position = 4

  Position of the gripper fingers in percentage (0-100%)

• float velocity = 5

  Velocity of the gripper fingers in percentage (0-100%)

• float current_motor = 7

  Current comsumed by the gripper motor (mA)

• float voltage = 8

  Motor Voltage (V)

• float temperature_motor = 10

  Motor temperature. (degrees Celsius)

• RESERVED_0 = 0

• CURRENT_VERSION = 1

  Current Version