Lebai Help

Gripper

The gripper instructions require the LMG-90open in new window model gripper to be installed on the robot's flange. This gripper supports force control and position control.

Note

When the robot is first started or powered on again, the gripper will automatically open and close once to confirm its stroke. Please ensure there are no obstacles around the gripper before starting the robot.

Initialize Gripper auto_sync

Initialize the gripper, the gripper opens and closes once to confirm its stroke. Requires new version gripper hardware support.

init_claw(must)
  • Parameters
    • must: Whether to force initialization. Optional, default is false, initializing only once. If the gripper has already been initialized, it won't force initialization. Choose true to force the gripper to initialize.

Set Gripper auto_sync

set_claw(force, amplitude)

Set the gripper force (force control) and amplitude (position control). If an object is grasped during the closing process, it will not continue to close to avoid damaging the object. The criterion for judgment is the magnitude of the force set here.

  • Parameters
    • force: Force (0-100).
    • amplitude: Opening/closing amplitude (0-100).
Example Program
  • Close the gripper to the minimum with half force.
set_claw(50, 0)

Set Gripper Parameters auto_sync

set_claw_aio(type, value)

Set the gripper amplitude or force separately according to the type.

  • Parameters
    • type: Gripper parameter.
      • Amplitude: Opening/closing amplitude (0-100).
      • Force: Force (0-100).
    • value: Value to be set.
Example Program
  • Set the gripper to open to the maximum.
set_claw_aio("Amplitude", 100)

Get Gripper Parameters

get_claw_aio(type)

Get the current amplitude or force of the gripper according to the type.

  • Parameters

    • type: Gripper parameter.
      • Amplitude: Opening/closing amplitude (0-100).
      • Force: Force (0-100).

  • Returns the corresponding type's value.

Example Program
get_claw_aio("Amplitude")

Wait for Gripper Parameters auto_sync

wait_claw_aio(type, value, relation)

Compare the current amplitude or force value of the gripper until it meets the given condition.

  • Parameters
    • type: Gripper parameter.
      • Amplitude: Opening/closing amplitude (0-100).
      • Force: Force (0-100).
    • value: Value to be set.
    • relation: Relational judgment operator.
Example Program
  • Wait for the gripper to open halfway.
wait_claw_aio("Amplitude", 50, ">")