onrobot-api

This is a repository for Python API of OnRobot grippers. The script folder includes modules for RG2, 2GF7 and VGC10 gripper models.

Modules:

• Device: device.py
• RG2: rg2.py
• 2GF7: twofg.py
• VGC10: vgc10.py

---

Gripper Status

Status	Description
0	Stable
-1	Error
-2	Connection Failed

---

Python API reference for 2FG7

Methods	Description	Input
grip	Moves the gripper to the desired position	t_width: Default=20.0 (mm), n_force: Default=20 (N), p_speed: Default=10(%), f_wait: Default=True
move	Moves the gripper to the desired position	t_width: Default=20.0 (mm), f_wait: Default=True
stop	Stops the action	-
isConnected	Returns True if the gripper is connected, False otherwise	-
isBusy	Returns True if there is an obstacle during operation, False otherwise	-
isGripped	Returns True if an object is gripped, False otherwise	-
getStatus	Returns current status of the gripper (No connection=-2, Error=-1, Stable=0)	-
get_ext_width	Returns current width between fingers	-
get_force	Returns current force on the gripper (in Newton)	-
get_min_ext_width	Returns minimum gripping width	-
get_max_ext_width	Returns minimum gripping width	-

Input parameter explanation

• t_width: width to move the gripper to in mm's (float)
• n_force: force to move the gripper width in N (float)
• p_speed: speed of the gripper in % compared to full speed (int)
• f_wait: wait for the gripper to end or not (Boolean)

Example script for 2FG7

from device import Device
from twofg import TWOFG

device = Device()
gripper = TWOFG(device)
gripper.isConnected()   # for checking connection

---

Decoding byte string to a python script

run api_byte2script.py to create api_original.py in the current directory

python3 /path/to/onrobot-api/api_byte2script.py