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API Reference v9.2.0

Ge1xGripperclass

Module: zaber_motion.product

Class representing a gripper in the GE1x series.

The following example illustrates how you can obtain an instance of this type:

from zaber_motion.product import Ge1xGripper

ge_1_x_gripper = Ge1xGripper.open_connection('COM3')

Index

cConstants
pProperties
mMethods

Constants

c

DEFAULT_DEVICE_ADDRESS

Ge1xGripper.DEFAULT_DEVICE_ADDRESS
int The default device address for a gripper in the GE1x series.
Value
1

Properties

p

connection_id

readonly
ge_1_x_gripper.connection_id
int The identifier for the connection.

Methods

m

activate_preset()

async available
ge_1_x_gripper.activate_preset(preset_number, wait_until_idle = True)
Activates a preset, causing the gripper to move to the preset position using the preset force and speed.
Arguments
NameTypeDescription
preset_numberintThe preset number to activate, from 1 to 4.
wait_until_idleboolWait until the move has completed before returning.
m

calibrate()

async available
ge_1_x_gripper.calibrate(save_to_flash = True)
Performs a calibration of the travel range by moving to the fully open and fully closed positions.
Arguments
NameTypeDescription
save_to_flashboolSave the calibration results to flash memory so they are retained on power cycle.
m

clear_error()

async available
ge_1_x_gripper.clear_error()
Clears the current error of the gripper.
m

close()

async available
ge_1_x_gripper.close()
Closes the connection to the gripper.
m

driver_disable()

async available
ge_1_x_gripper.driver_disable()
Disables the gripper driver.
m

driver_enable()

async available
ge_1_x_gripper.driver_enable()
Enables the gripper driver.
m

get_current()

async available
ge_1_x_gripper.get_current()
Gets the current current of the gripper.
Return Value
int The current current of the gripper in milliamps.
m

get_error()

async available
ge_1_x_gripper.get_error()
Gets the current error of the gripper.
Return Value
Ge1xGripperError The current error of the gripper.
m

get_io_input_preset_number()

async available
ge_1_x_gripper.get_io_input_preset_number()
Gets the preset number currently activated by the gripper IO input.
Return Value
int The current preset number activated by the gripper IO input.
m

get_position()

async available
ge_1_x_gripper.get_position()
Gets the current position of the gripper.
Return Value
float The current position of the gripper as a percentage, where 0 is closed and 100 is open.
m

get_state()

async available
ge_1_x_gripper.get_state()
Gets the current state of the gripper.
Return Value
Ge1xGripperState The current state of the gripper.
m

home()

async available
ge_1_x_gripper.home(wait_until_idle = True)
Homes gripper by moving it to its homing position.
Arguments
NameTypeDescription
wait_until_idleboolWait until homing has completed before returning.
m

is_homed()

async available
ge_1_x_gripper.is_homed()
Checks if the gripper has been homed.
Return Value
bool True if the gripper is homed, false otherwise.
m

move()

async available
ge_1_x_gripper.move(position, wait_until_idle = True)
Moves the gripper to a specified position.
Arguments
NameTypeDescription
positionfloatThe target position for the gripper as a percentage, where 0 is closed and 100 is open.
wait_until_idleboolWait until the move has completed before returning.
m

move_close()

async available
ge_1_x_gripper.move_close(wait_until_idle = True)
Moves the gripper to the closed position.
Arguments
NameTypeDescription
wait_until_idleboolWait until the move has completed before returning.
m

move_open()

async available
ge_1_x_gripper.move_open(wait_until_idle = True)
Moves the gripper to the open position.
Arguments
NameTypeDescription
wait_until_idleboolWait until the move has completed before returning.
s

open_connection()

async available
Ge1xGripper.open_connection(port_name, device_address = DEFAULT_DEVICE_ADDRESS, timeout = 500)
Opens a serial connection to a gripper.
Arguments
NameTypeDescription
port_namestrThe name of the serial port to connect to.
device_addressintThe address of the gripper to connect to.
timeoutintThe timeout in milliseconds for any request sent using this connection.
Return Value
Ge1xGripper A Ge1xGripper instance representing the connection to the gripper.
m

read_register()

async available
ge_1_x_gripper.read_register(register_address)
Reads a single register value from the gripper.
Arguments
NameTypeDescription
register_addressintThe address of the register to read.
Return Value
int The data at the specified register address.
m

set_auto_home()

async available
ge_1_x_gripper.set_auto_home(enabled, save_to_flash = True)
Enables or disables automatic homing on power up.
Arguments
NameTypeDescription
enabledboolTrue to enable automatic homing on power up, false to disable.
save_to_flashboolSave the auto home setting to flash memory so it is retained on power cycle.
m

set_force()

async available
ge_1_x_gripper.set_force(force)
Sets the gripping force of the gripper.
Arguments
NameTypeDescription
forceintThe gripping force as a percentage from 20 to 100.
m

set_home_direction()

async available
ge_1_x_gripper.set_home_direction(direction, save_to_flash = True)
Sets the home direction for the gripper.
Arguments
NameTypeDescription
directionGe1xGripperDirectionThe home direction to set.
save_to_flashboolSave the home direction setting to flash memory so it is retained on power cycle.
m

set_io_enabled()

async available
ge_1_x_gripper.set_io_enabled(enabled, save_to_flash = True)
Enables or disables IO control for the gripper. When enabled, the gripper will not move to a preset position until the IO input changes.
Arguments
NameTypeDescription
enabledboolTrue to enable IO control, false to disable.
save_to_flashboolSave the IO enabled setting to flash memory so it is retained on power cycle.
m

set_io_input_filter()

async available
ge_1_x_gripper.set_io_input_filter(duration, save_to_flash = True)
Sets the debounce filter time for the gripper IO input to suppress noise.
Arguments
NameTypeDescription
durationintThe IO input filter time in milliseconds.
save_to_flashboolSave the IO input filter setting to flash memory so it is retained on power cycle.
m

set_preset()

async available
ge_1_x_gripper.set_preset(preset_number, position, force = 100, speed = 100, save_to_flash = True)
Saves a position, force, and speed as a preset that can be enabled using I/O or the activatePreset() method. Note that presets are only activated by I/O when the I/O input changes to that preset number.
Arguments
NameTypeDescription
preset_numberintThe preset number to save the preset to, from 1 to 4.
positionfloatThe target position for the preset as a percentage, where 0 is closed and 100 is open.
forceintThe gripping force for the preset as a percentage from 20 to 100.
speedintThe maximum speed for the preset as a percentage from 1 to 100.
save_to_flashboolSave the preset to flash memory so it is retained on power cycle.
m

set_speed()

async available
ge_1_x_gripper.set_speed(speed)
Sets the maximum speed of the gripper.
Arguments
NameTypeDescription
speedintThe maximum speed as a percentage from 1 to 100.
m

stop()

async available
ge_1_x_gripper.stop(wait_until_idle = True)
Stops the gripper from moving.
Arguments
NameTypeDescription
wait_until_idleboolWait until the gripper has stopped before returning.
m

wait_until_idle()

async available
ge_1_x_gripper.wait_until_idle()
Waits until the gripper has stopped moving.
m

write_register()

async available
ge_1_x_gripper.write_register(register_address, data)
Writes a single register value to the gripper.
Arguments
NameTypeDescription
register_addressintThe address of the register to write.
dataintThe data to write to the specified register address.