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Pro 450 Python Socket API

[toc]

Preparing For Use

Before using the Python API, please ensure that the following hardware and environment are complete:

  • Hardware

    • MyCobot Pro 450 robot arm
    • Network cable (for connecting the robot arm to the computer)
    • Power adapter
    • Emergency stop switch (for safe operation)

  • Software and Environment

    • Python 3.6 or later installed
    • The pymycobot library installed (using the pip install pymycobot terminal command)
    • Ensure that the MyCobot Pro 450 is properly powered on and in standby mode.
    • Note: The Pro 450 server automatically starts upon powering on; no manual operation is required.

  • Network Configuration

    • MyCobot Pro 450 default IP address: 192.168.0.232

    • Default port number: 4500

    • Note: PC The local network card IP address must be set to the same network segment as the robot (e.g., 192.168.0.xxx, where xxx is a number between 2 and 254 and must not conflict with the robot).

    • Example:

      • Robot IP: 192.168.0.232
      • PC IP: 192.168.0.100
      • Subnet mask: 255.255.255.0
      • DNS Service：114.114.114.114

    • Verification: After completing the network configuration, execute the following command on the PC terminal. If data packets are successfully returned, the network connection is normal:

      ping 192.168.0.232

API Usage Instructions

API (Application Programming Interface), also known as Application Programming Interface functions, are predefined functions. When using the following function interfaces, please import our API library at the beginning by entering the following code, otherwise it will not run successfully:

Note: Before use, please make sure that the MyCobot Pro 450 server is turned on and the PC and the robot are in the same network segment.

# Example
from pymycobot import Pro450Client
# The default IP address is "192.168.0.232" and the default port number is 4500
mc = Pro450Client('192.168.0.232', 4500)

if mc.is_power_on() !=1:
    mc.power_on()

print(mc.get_angles())

1. System Status

get_system_version()

  • function： get system version
  • Return value： system version

get_modified_version()

  • function： Read the revision number, for internal use only
  • Return value： Correction version number

get_robot_type()

  • function： Detection robot model

  • Return value： Definition Rule: Actual machine model. For example, the MyCobot Pro 450 model is 4503

get_atom_version()

  • function： Get the end version number
  • Return value： End parameters(float)

get_tool_modify_version()

  • function： Read end correction version number
  • Return value： end correction version

2. Overall Status

power_on()

  • Function: Starts the robot (power on)
  • Return value:
    • 1 - Power on successfully.
    • 2 - Power on failed
    • 0 - Power not on

power_off()

  • Function: Shuts down the robot (power off)

  • Return value:

    • 1 - Command received successfully.

is_power_on()

  • Function: Checks whether the robot is powered on

  • Return value:

    • 1: Power on successfully
    • 0: Power not on
    • 2: Power on failed

is_init_calibration()

  • function: Check if the robot is initialized for calibration

  • Return value: bool: True if the robot is initialized for calibration, False otherwise

get_fresh_mode()

  • function: Query sports mode

  • Return value:

    • 0: Interpolation mode
    • 1: Refresh mode

set_fresh_mode()

  • function: Set command refresh mode

  • Parameters:

    • 1: Always execute the latest command first.
    • 0: Execute instructions sequentially in the form of a queue.

get_debug_state()

  • Function: Get the current robot's debug logging mode.

  • Return value: int: Current debug logging state.

    • 0: No debug logs
    • 1: General debug log only (_debug.log)
    • 2: Motion-related log only (_move.log)
    • 3: General and motion-related logs (_debug.log + _move.log)
    • 4: Motor read/control frequency log only (_clock_rate_debug.log)
    • 5: General and motor frequency logs (_debug.log + _clock_rate_debug.log)
    • 6: Motion and motor frequency logs (_move.log + _clock_rate_debug.log)
    • 7: All logs

set_debug_state(log_state)

  • Function: Set the debug logging mode for the current robot.

  • Parameters:

    • log_state: int, debug log state (0 to 7)
      • 0: Do not log any debug logs
      • 1: General debug log only (_debug.log)
      • 2: Motion-related log only (_move.log)
      • 3: General and motion-related logs (_debug.log + _move.log)
      • 4: Motor read/control frequency log only (_clock_rate_debug.log)
      • 5: General and motor frequency logs (_debug.log + _clock_rate_debug.log)
      • 6: Motion and motor frequency logs (_move.log + _clock_rate_debug.log)
      • 7: Log all logs

  • Return value: int

    • 1 - Success
    • 0 - Failure
    • 1 - Error

set_communication_mode(protocol_mode)

  • Function: Sets the current robot Modbus communication mode.

  • Parameters:

    • protocol_mode: int 0 or 1

      • 0: close Modbus protocol

      • 1: open Modbus protocol

  • Return value: int

    • 1 - Success
    • 0 - Failure
    • 1 - Error

get_communication_mode()

  • Function: Gets the current robot communication mode.

  • Return value:

    • communication_mode: int
      • 0 - Socket communication mode
      • 1 - 485 communication mode
    • protocol_mode: int
      • 0: Custom protocol
      • 1: Modbus protocol

get_free_move_mode()

  • Function: Reads the free movement mode

  • Return Value:

    • 0: Disables free movement mode

    • 1: Enables free movement mode

set_free_move_mode(mode)

  • Function: Sets the free movement mode (only when free movement is enabled can the joint be released by holding down the end button)

  • Parameters:

    • 1: Enables free movement mode.

    • 0: Disables free movement mode.

3.Robot Abnormal Control

get_robot_status()

  • Function: Read robot error and safety status

  • Return Value: 0 - Normal. For example, [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], Other - Robot abnormal

    • [Joint collision, whether in motion, whether J1 exceeds limits, whether J2 exceeds limits, whether J3 exceeds limits, whether J4 exceeds limits, whether J5 exceeds limits, whether J6 exceeds limits, whether J1 has a motor hardware error, whether J2 has a motor hardware error, whether J3 has a motor hardware error, whether J4 has a motor hardware error, whether J5 has a motor hardware error, whether J6 has a motor hardware error, whether J1 has a software communication error, whether J2 has a software communication error, whether J3 has a software communication error, whether J4 has a software communication error, whether J5 has a software communication error, whether J6 has a software communication error]

servo_restore(joint_id)

  • function：Clear joint abnormalities
  • Parameters：
    • joint_id: int. joint id 1 - 6, 254-All joints restored.

get_comm_error_counts(joint_id)

  • function：Read the number of communication exceptions

  • Parameters：

    • joint_id: int. joint id 1 - 6

  • Return value: list A list of length 4, such as [0, 0, 0, 0], represents:

    • [0]: Number of joint sending exceptions

    • [1]: Number of joint reading exceptions

    • [2]: Number of end-point sending exceptions

    • [3]: Number of end-point sending exceptions

get_error_information()

  • Function: Read robot error information
  • Return value: int
    • 0: No error information
    • 1-6: The corresponding joint exceeds the limit position.
    • 32-36: Coordinate motion error.
      • 32: No coordinate solution. Please check if the arm span is near the limit.
      • 33: No adjacent solution for linear motion.
      • 34: Velocity fusion error.
      • 35: No adjacent solution for null space motion.
      • 36: No solution for singular position. Please use joint control to leave the singular point.
    • 81~86: Collision triggered at joints J1 to J6. Please use the resume interface to recover.

clear_error_information()

  • Function: Clear robot error information

over_limit_return_zero()

  • Function: Return to zero for a joint exceeding the limit

get_motors_run_err()

  • Function: Read motor error information during robot motion
  • Return value: list, a list of 6, all zeros, indicating normal operation

4.MDI Mode And Operation

set_control_mode(mode)

  • Function: Set the robot motion mode
  • Parameter:
    • mode: int, 0 to 1, default 0
      • 0: Position mode
      • 1: Torque mode

get_control_mode()

  • Function: Get the robot motion mode
  • Return value:
    • 0: Position mode
    • 1: Torque mode

get_angles()

  • function: get the degree of all joints
  • Return value: list a float list of all degree

get_angle()

  • function: Get single joint angle
  • Parameters： joint_id (int): 1 ~ 6
  • Return value: float, single joint angle

send_angle(id, degree, speed)

  • function: send one degree of joint to robot arm
  • Parameters:

    • id: Joint id(genre.Angle), range int 1-6

    • degree: degree value(float)

      Joint Id range
      1 -162 ~ 162
      2 -125 ~ 125
      3 -154 ~ 154
      4 -162 ~ 162
      5 -162 ~ 162
      6 -165 ~ 165

    • speed：the speed and range of the robotic arm's movement 1~100

send_angles(angles, speed)

  • function： Send all angles to all joints of the robotic arm
  • Parameters:
    • angles: a list of degree value(List[float]), length 6
    • speed: (int) 1 ~ 100

get_coords()

  • function: Obtain robot arm coordinates from a base based coordinate system
  • Return value: a float list of coord:[x, y, z, rx, ry, rz]

send_coord(id, coord, speed)

  • function: send one coord to robot arm
  • Parameters:
    • id:send one coord to robot arm, 1-6 corresponds to [x, y, z, rx, ry, rz]
    • coord: coord value(float)
      Coord Id range
      x -474 ~ 474
      y -474 ~ 474
      z -180 ~ 677
      rx -180 ~ 180
      ry -180 ~ 180
      rz -180 ~ 180
    • speed: (int) 1-100

send_coords(coords, speed, mode)

  • function:: Send overall coordinates and posture to move the head of the robotic arm from its original point to your specified point
  • Parameters:
    • coords: ： a list of coords value [x,y,z,rx,ry,rz],length6
    • speed(int): 1 ~ 100

pause(deceleration=0)

  • Function: Controls the core and stops all motion commands.
  • Parameters:
    • deceleration: Whether to decelerate and stop. The default value is 0. 1 indicates a deceleration.
  • Return Value:
    • 1 - stopped
    • 0 - not stopped
    • -1 - error

is_paused()

  • Function: Checks whether the program has paused a motion command.
  • Return Value:
    • 1 - paused
    • 0 - not paused
    • -1 - error

resume()

  • Function: Resume robot motion and complete the previous command.

stop(deceleration=0)

  • Function: Stops robot motion.
  • Parameters:
    • deceleration: Whether to decelerate and stop. Defaults to 0. 1 indicates a slow stop.
  • Return Value:
    • 1 - Stopped
    • 0 - Not stopped
    • -1 - Error

is_in_position(data, flag)

  • function : judge whether in the position.
  • Parameters:
    • data: Provide a set of data that can be angles or coordinate values. If the input angle length range is 7, and if the input coordinate value length range is 6
    • flag: data type (value range 0 or 1)
      • 0: angle
      • 1: coord
  • Return value:
    • 1 - true
    • 0 - false
    • -1 - error

is_moving()

  • function: judge whether the robot is moving
  • Return value:
    • 1 moving
    • 0 not moving
    • -1 error

5. JOG Mode And Operation

jog_angle(joint_id, direction, speed)

  • function: jog control angle
  • Parameters:
    • joint_id: Represents the joints of the robotic arm, represented by joint IDs ranging from 1 to 6
    • direction(int): To control the direction of movement of the robotic arm, input 0 as negative value movement and input 1 as positive value movement
    • speed: 1 ~ 100

jog_coord(coord_id, direction, speed)

  • function: jog control coord.
  • Parameters:
    • coord_id: (int) Coordinate range of the robotic arm: 1~6
    • direction:(int) To control the direction of machine arm movement, 0 - negative value movement, 1 - positive value movement
    • speed: 1 ~ 100

jog_increment_angle(joint_id, increment, speed)

  • function: Single joint angle increment control
  • Parameters:
    • joint_id: 1-6
    • increment: Incremental movement based on the current position angle
    • speed: 1 ~ 100

jog_increment_coord(coord_id, increment, speed)

  • function: Single joint angle increment control
  • Parameters:
    • joint_id: axis id 1 - 6.
    • increment: Incremental movement based on the current position coord
    • speed: 1 ~ 100

6. Speed/Acceleration Parameters

get_max_speed(mode)

  • Function: Get the maximum speed
  • Parameters:
    • mode : int
      • 0: Angular speed
      • 1: Coordinate speed
  • Return value: Angular speed range: 1-150°/s, coordinate speed range: 1-200mm/s

set_max_speed(mode, max_speed)

  • Function: Set the maximum speed
  • Parameters:
    • mode : int
      • 0: Angular speed
      • 1: Coordinate speed
    • max_speed: Angular speed range: 1-150°/s, coordinate speed range: 1-200mm/s

get_max_acc(mode)

  • Function: Get the maximum acceleration
  • Parameters:
    • mode : int
      • 0: Angular acceleration
      • 1: Coordinate acceleration
    • Return value: Angular acceleration range 1 to 150°/s, coordinate acceleration range 1 to 400 mm/s

set_max_acc(mode, max_acc)

  • Function: Set maximum motion acceleration
  • Parameters:
    • mode : int
      • 0: Angular acceleration
      • 1: Coordinate acceleration
      • max_acc: Angular acceleration range 1 to 150°/s, coordinate acceleration range 1 to 400 mm/s

7. Joint Software Limit Operation

get_joint_min_angle(joint_id)

  • function: Read the minimum joint angle
  • Parameters:
    • joint_id : Enter joint ID (range 1-6)
  • Return value：float Angle value

get_joint_max_angle(joint_id)

  • function: Read the maximum joint angle
  • Parameters:
    • joint_id : Enter joint ID (range 1-6)
  • Return value: float Angle value

set_joint_min_angle(id, angle)

  • function: Set minimum joint angle limit
  • Parameters:
    • id : Enter joint ID (range 1-6)
    • angle: Refer to the limit information of the corresponding joint in the send_angle() interface, which must not be less than the minimum value

set_joint_max_angle(id, angle)

  • function: Set minimum joint angle limit
  • Parameters:
    • id : Enter joint ID (range 1-6)
    • angle: Refer to the limit information of the corresponding joint in the send_angle() interface, which must not be greater than the maximum value

8. Joint Motor Auxiliary Control

get_servo_encoders()

  • function：Read the full joint encoder value
  • Return value： A list of length 6

set_servo_calibration(servo_id)

  • function: The current position of the calibration joint actuator is the angle zero point
  • Parameters:
    • servo_id: 1 - 6

set_break（joint_id, value）

  • function: Set break point
  • Parameters：
    • joint_id: int. joint id 1 - 6
    • value: int. 0 - disable, 1 - enable
  • Return value: 0 : faile; 1 : success

set_motor_enabled(joint_id, state

  • function: Set the robot torque state.(Release joint interface)
  • Parameters：
    • joint_id: int. joint id 1 - 6, 254-all joints
    • state: int. 0 - disable, 1 - enable

9. Drag Teach

drag_teach_save()

  • Function: Start recording and dragging the teach point.
  • Note: For optimal motion performance, the recording time should not exceed 120 seconds.

drag_teach_pause()

  • Function: Pause dragging the teach point

drag_teach_execute()

  • Function: Start dragging the teach point. Execute only once.

drag_teach_clean()

  • Function: Clear the sampling point.

set_pro_gripper_offset(offset=2)

  • Function: Sets the Pro force control gripper offset. When executing a teaching trajectory with gripper dragging, the actual gripper angle will be reduced by offset (default is 2).

  • Parameters: int

    • offset: Range -5 ~ 5, default 2

get_pro_gripper_offset()

  • Function: Gets the Pro force control gripper offset. When executing a teaching trajectory with gripper dragging, the actual gripper angle will be reduced by offset (default is 2).

  • Return Value: int, range -5 ~ 5

10. Dynamics

get_collision_mode()

  • Function: Query the collision detection mode
  • Return value:
    • 0: Off
    • 1: On

set_collision_mode(mode)

  • Function: Set the joint collision detection mode
  • Parameter: int
    • mode:
      • 0: Off
      • 1: On

set_collision_threshold(joint_id, threshold_value=100)

  • Function: Sets joint collision detection

  • Parameters:

    • mode: int Joint ID, range 1 ~ 6

    • threshold_value: int Collision threshold, range 50 ~ 250, default value is 100. The smaller the value, the easier it is to trigger a collision.

get_collision_threshold()

  • Function: Get the joint collision threshold
  • Return value: A list of all joint collision thresholds

set_torque_comp(joint_id, damping, comp_value=0)

  • Function: Set the torque compensation coefficient
  • Parameter:
    • joint_id int: Joint ID, range 1 to 6
    • damping int: Range 0 ~ 1. 1 - On, 0 - Off
    • comp_value: Compensation value, range 0-250, default 100. Smaller values ​​result in more difficult joint dragging.

get_torque_comp()

  • Function: Get torque compensation coefficients
  • Return value: A list of torque compensation coefficients for all joints

fourier_trajectories(trajectory)

  • Function: Execute dynamic identification trajectory
  • Parameter:
    • trajectory: int, range 0-1

parameter_identify()

  • Function: Kinetic parameter identification

11. Circular Motion

write_move_c(transpoint, endpoint, speed)

  • Function: Circular arc motion (specify transit points)
  • Parameter:
  • transpoint(list): Arc transit points
  • endpoint(list): Arc endpoint
  • speed(int): 1 to 100

12. Run Auxiliary Information

get_zero_pos()

  • function: Read the zero encoder value
  • Return value: listThe value of the zero encoder for seven joints

get_servo_speeds()

  • function：Get the movement speed of all joints
  • Return value： unit step/s

get_servo_currents()

  • function：Get the movement current of all joints
  • Return value： 0 ~ 5000 mA

get_servo_status()

  • function：Get the movement status of all joints
  • Return value： a value of 0 means no error

13. Robotic Arm End IO Control

set_digital_output(pin_no, pin_signal)

  • Function: Set terminal IO status
  • Parameters
    • pin_no (int): Pin number, range 1 to 2
    • pin_signal (int): 0 / 1, 0 - low level, 1 - high level
  • Return Value:
    • 1: Completed

get_digital_input(pin_no)

  • Function: Get terminal IO status
  • Parameters: pin_no (int), range 1 to 2
  • Return Value: int 0 / 1, 0 - low level, 1 - high level

get_digital_inputs()

  • Function: Reads the status of all pins at the end, including: IN1, IN2, Button 1 (right side), and Button 2 (Button 2 is closer to the emergency stop button, located on the left side).

  • Return Value: list[int] 0 / 1, 0 - low level, 1 - high level. e.g., [0, 0, 1, 0] represents button 1 being pressed.

14. End Light Panel Function

set_color(r, g, b)

  • Function: Set the color of the end light of the robot arm

  • Parameter:

    • r (int): 0 to 255

    • g (int): 0 to 255

    • b (int): 0 to 255

15. Bottom IO Control

set_base_io_output(pin_no, pin_signal)

  • function：Set Base IO Output
  • Parameters：
    • pin_no (int) Pin port number, range 1 ~ 12
    • pin_signal (int): 0 - low. 1 - high

get_base_io_output(pin_no)

  • function: Read base IO input
  • Parameters:
    • pin_no (int) pin number, range 1 ~ 12
  • Return value: 0 - low. 1 - high

set_base_external_config(communicate_mode, baud_rate, timeout)

  • Function: Set the bottom external device configuration
  • Parameter:
    • communicate_mode (int) Range: 1 to 2
      • 1: 485
      • 2: can
    • baud_rate (int): Baud rate
    • timeout: (int) Timeout period, in milliseconds

get_base_external_config()

  • Function: Read the bottom external device configuration
  • Return value: list returns a list: [communication mode, baud rate, timeout]

base_external_can_control(can_id, can_data)

  • Function: Controls CAN devices on the bottom
  • Parameters:
    • can_id (int) Range: 1 to 4
    • can_data (list) List contents are in hexadecimal format, with a maximum length of 64 characters.

base_external_485_control(data)

  • Function: Controls 485 devices on the bottom
  • Parameters:
    • data (list) List contents are in hexadecimal format, with a maximum length of 64 characters.

16. Set Up 485 Communication At The End Of The Robotic Arm

tool_serial_write_data(command)

  • function: End 485 sends data， Data length range is 1 ~ 45 bytes
  • Parameters：
    • command (list): Data instructions in modbus format
  • Return value: Modbus data list

flash_tool_firmware(main_version, modified_version=0)

  • Function: Flash the terminal firmware
  • Parameters:
    • main_version (str): Major and minor version numbers, e.g. 1.1
    • modified_version (int): Modified version number, range 0 to 255, default is 0

set_tool_serial_baud_rate(baud_rate=115200)

  • Function: Sets the terminal 485 baud rate, default 115200

  • Parameter: baud_rate (int): Standard baud rate, only supports 115200 and 1000000

  • Return Value: 1

set_tool_serial_timeout(timeout=10000)

  • Function: Sets the terminal 485 timeout, default 10 seconds

  • Parameter: timeout (int): Timeout duration, in milliseconds, range 1 ~ 10000

  • Return Value: 1

get_tool_config()

  • Function: Retrieves the terminal 485 baud rate and timeout duration

  • Return Value: (list) A list containing baud rates and timeout durations, e.g., [baud rate, timeout duration]

17. Tool Coordinate System Operations

set_tool_reference(coords)

  • Function: Set the tool coordinate system
  • Parameters:

    • coords: (list) [x, y, z, rx, ry, rz].

      Coord Id range
      x -1000 ~ 1000
      y -1000 ~ 1000
      z -1000 ~ 1000
      rx -180 ~ 180
      ry -180 ~ 180
      rz -180 ~ 180

get_tool_reference(coords)

  • Function: Get the tool coordinate system
  • Return value: (list) [x, y, z, rx, ry, rz]

set_world_reference(coords)

  • Function: Set the world coordinate system
  • Parameters:

    • coords: (list) [x, y, z, rx, ry, rz].

      Coord Id range
      x -1000 ~ 1000
      y -1000 ~ 1000
      z -1000 ~ 1000
      rx -180 ~ 180
      ry -180 ~ 180
      rz -180 ~ 180

get_world_reference()

  • Function: Get the world coordinate system.
  • Return value: list [x, y, z, rx, ry, rz].

set_reference_frame(rftype)

  • Function: Set the base coordinate system
  • Parameters:
    • rftype: 0 - Base coordinates (default), 1 - World coordinates.

get_reference_frame()

  • Function: Get the base coordinate system
  • Return value: (list`) [x, y, z, rx, ry, rz].

set_movement_type(move_type)

  • Function: Set the movement type
  • Parameters:
    • move_type: 1 - moveL, 0 - moveJ.

get_movement_type()

  • Function: Get the movement type
  • Return value:
    • 1 - moveL
    • 0 - moveJ

set_end_type(end)

  • Function: Set the end coordinate system
  • Parameters:
    • end (int): 0 - Flange (default), 1 - Tool

get_end_type()

  • Function: Get the end coordinate system
  • Return value:
    • 0 - Flange (default)
    • 1 - Tool

18. Algorithm Parameters

get_model_direction()

  • Function: Get the joint model direction
  • Return value: Model direction of joints 1-6
    • 1 - Same direction as the motor
    • 0 - Opposite direction from the motor

set_model_direction(joint_id, direction)

  • Function: Set the joint model direction
  • Parameters:
    • joint_id (int): 1 to 6
    • direction (int): 1 - Same direction as the motor. 0 - Opposite direction from the motor

get_filter_len(rank)

  • Function: Get filter parameters
  • Parameters:
    • rank: int
      • 1: Drag teach sampling filter
      • 2: Drag teach execution filter
      • 3: Joint velocity fusion filter
      • 4: Coordinate velocity fusion filter
      • 5: Drag teach sampling period
  • Return value: int 1 to 255

set_filter_len(rank, value)

  • Function: Set filter parameters
  • Parameters:
    • rank (int): 1 to 5
      • 1: Drag teach sampling filter
      • 2: Drag teach execution filter
      • 3: Joint velocity fusion filter
      • 4: Coordinate velocity fusion filter
      • 5: Drag teach sampling period
    • value (int): 1 to 255

get_fusion_parameters(rank_mode)

  • Function: Get velocity fusion planning parameters
  • Parameters:
    • rank_mode: 1 to 4
      • 1: Fusion joint velocity
      • 2: Fusion joint acceleration
      • 3: Fusion coordinate velocity
      • 4: Fusion coordinate acceleration
  • Return value: (int): 0 to 1000

set_fusion_parameters(rank_mode, value)

  • Function: Set velocity fusion planning parameters
  • Parameters:
    • rank_mode (int): 1 to 4
    • value (int): 0 to 1000

19. Kinematics Algorithm Interface

solve_inv_kinematics(target_coords, current_angles)

  • Function: Convert coordinates to angles.
  • Parameters
    • target_coords: list A list of floating-point values ​​for all coordinates.
    • current_angles: list A list of floating-point values ​​for all angles, indicating the current angles of the robot arm.
  • Return Value: list A list of floating-point values ​​for all angles.

20. Pro Force-controlled Gripper

get_pro_gripper_firmware_version( gripper_id=14)

  • Function: Read the major and minor versions of the Pro Force Control Gripper firmware.

  • Parameter:

    • gripper_id (int): Gripper ID, default is 14, value range is 1 to 254.

  • Return value: (float) Version number, x.x

get_pro_gripper_firmware_modified_version(gripper_id=14)

  • Function: Read the modified version of the Pro Force Control Gripper firmware.

  • Parameter:

    • gripper_id (int): Gripper ID, default is 14, value range is 1 to 254.

  • Return value: (int) Correction version number

set_pro_gripper_id(target_id, gripper_id=14)

  • Function: Set the force-controlled gripper ID.
  • Parameter:
    • target_id (int): Range: 1 to 254.
    • gripper_id (int): Gripper ID, default: 14, range: 1 to 254.
  • Return value:
    • 0 - Failure
    • 1 - Success

get_pro_gripper_id(gripper_id=14)

  • Function: Read the force-controlled gripper ID.
  • Parameter:
    • gripper_id (int): Gripper ID, default: 14, range: 1 to 254.
  • Return value: int Range: 1 to 254.

set_pro_gripper_angle(gripper_angle，gripper_id=14)

  • Function: Set the force-controlled gripper angle.
  • Parameter:
    • gripper_angle (int): Gripper angle, value range 0 ~ 100.
    • gripper_id (int) Gripper ID, default 14, value range 1 ~ 254.
  • Return value:
    • 0 - Failed
    • 1 - Success

get_pro_gripper_angle(gripper_id=14)

  • Function: Read the angle of the force-controlled gripper.
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
  • Return value: int 0 ~ 100

set_pro_gripper_open(gripper_id=14)

  • Function: Open the force-controlled gripper.
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
  • Return value:
    • 0 - Failed
    • 1 - Success

set_pro_gripper_close(gripper_id=14)

  • Function: Close the force-controlled gripper.
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
  • Return value:
    • 0 - Failed
    • 1 - Success

set_pro_gripper_calibration(gripper_id=14)

  • Function: Set the zero position of the force-controlled gripper. (The zero position needs to be set first when using it for the first time)
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
  • Return value:
    • 0 - Failed
    • 1 - Success

get_pro_gripper_status(gripper_id=14)

  • Function: Read the gripping status of the force-controlled gripper.
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
  • Return value:
    • 0 - Moving.
    • 1 - Stopped moving, no object was detected.
    • 2 - Stopped moving, object was detected.
    • 3 - After the object was detected, it fell.

set_pro_gripper_enabled(state, gripper_id=14)

  • Function: Sets the force-controlled gripper enable state.
  • Parameter:
    • state (bool): 0 or 1, 0 - disable, 1 - enable
    • gripper_id (int): Gripper ID, default 14, range 1 to 254.
  • Return Value:
    • 0 - Failure
    • 1 - Success

set_pro_gripper_torque(torque_value，gripper_id=14)

  • Function: Set the torque of the force-controlled gripper.
  • Parameter:
    • torque_value (int): Torque value, value range 0 ~ 100.
    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
  • Return value:
    • 0 - Failed
    • 1 - Success

get_pro_gripper_torque(gripper_id=14)

  • Function: Read the torque of the force-controlled gripper.
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
  • Return value: (int) 0 ~ 100

set_pro_gripper_speed(speed，gripper_id=14)

  • Function: Set the force-controlled gripper speed.
  • Parameter:
    • speed (int): Gripper movement speed, value range 1 ~ 100.
    • gripper_id (int) Gripper ID, default 14, value range 1 ~ 254.
  • Return value:
    • 0 - Failed
    • 1 - Success

get_pro_gripper_speed(speed，gripper_id=14)

  • Function: Read the speed of the force-controlled gripper.
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.
  • Return value: Gripper default movement speed, range 1 ~ 100.

set_pro_gripper_abs_angle(gripper_angle，gripper_id=14)

  • Function: Set the absolute angle of the force-controlled gripper.
  • Parameter:
    • gripper_angle (int): Gripper angle, value range 0 ~ 100.
    • gripper_id (int) Gripper ID, default 14, value range 1 ~ 254.
  • Return value:
    • 0 - Failed
    • 1 - Success

set_pro_gripper_io_open_angle(gripper_angle, gripper_id=14)

  • Function: Sets the force-controlled gripper I/O opening angle.
  • Parameter:
    • gripper_angle (int): Gripper angle, value range 0 to 100.
    • gripper_id (int): Gripper ID, default 14, value range 1 to 254.
  • Return Value:
    • 0 - Failure
    • 1 - Success

get_pro_gripper_io_open_angle(gripper_id=14)

  • Function: Reads the force-controlled gripper I/O opening angle.
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, value range 1 to 254.
  • Return value: int 0 to 100

set_pro_gripper_io_close_angle(gripper_angle, gripper_id=14)

  • Function: Sets the force-controlled gripper IO closing angle.
  • Parameter:
    • gripper_angle (int): Gripper angle, value range 0 to 100.
    • gripper_id (int): Gripper ID, default 14, value range 1 to 254.
  • Return value:
    • 0 - Failure
    • 1 - Success

get_pro_gripper_io_close_angle(gripper_id=14)

  • Function: Read the force-controlled gripper IO closing angle.
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, value range 1 to 254.
  • Return value: int 0 to 100

set_pro_gripper_mini_pressure(pressure_value, gripper_id=14)

  • Function: Set the minimum actuation force of the force-controlled gripper
  • Parameter:
    • pressure_value (int): Actuation force value, range 0 to 254.
    • gripper_id (int): Gripper ID, default 14, range 1 to 254.
  • Return value:
    • 0 - Failure
    • 1 - Success

get_pro_gripper_mini_pressure(gripper_id=14)

  • Function: Read the minimum actuation force of the force-controlled gripper
  • Parameter:
    • gripper_id (int): Gripper ID, default 14, range 1 to 254.
  • Return value: (int) Starting force value, range 0 to 254.

set_pro_gripper_protection_current(current_value, gripper_id=14)

  • Function: Set the gripping current of the force-controlled gripper
  • Parameter:
    • current_value (int): Gripping current value, range 100 to 300.
    • gripper_id (int) Gripper ID, default 14, range 1 to 254.
  • Return value:
    • 0 - Failure
    • 1 - Success

get_pro_gripper_protection_current(gripper_id=14)

  • Function: Read the gripping current of the force-controlled gripper
  • Parameter:
    • gripper_id (int) Gripper ID, default 14, range 1 to 254.
  • Return value: (int) Clamping current value, range 100 ~ 300.

set_pro_gripper_baud(baud_rate=0, gripper_id=14)

  • Function: Sets the baud rate of the force control gripper

  • Parameters:

    • baud_rate (int): Baud rate index, range 0 ~ 1, default 0 - 115200

      • 0 - 115200

      • 1 - 1000000

    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.

  • Return Value:

    • 0 - Failure

    • 1 - Success

get_pro_gripper_baud(gripper_id=14)

  • Function: Reads the baud rate of the force control gripper

  • Parameters:

    • gripper_id (int) Gripper ID, default 14, value range 1 ~ 254.

  • Return Value: (int) Baud rate index, default 0 - 115200

    • 0 - 115200

    • 1 - 1000000

set_pro_gripper_modbus(state, custom_mode=False, gripper_id=14)

  • Function: Sets the force control gripper's Modbus communication mode

  • Parameters:

    • state (int): Range 0 ~ 1.

      • 0: Disables Modbus communication mode, enables custom communication mode

      • 1: Enables Modbus communication mode, disables custom communication mode

    • custom_mode (bool): Custom communication mode identifier, default False (currently in Modbus mode). If the current communication mode is custom, to enable Modbus communication mode, you need to change custom_mode to True. For example: set_pro_gripper_modbus(1, True)

    • gripper_id (int) Gripper ID, default 14, value range 1 ~ 254.

  • Return value:

    • 0 - Failure

    • 1 - Success

set_pro_gripper_init(gripper_id=14)

  • Function: Initializes the gripper, restoring it to Modbus mode at 115200 baud rate.

  • Parameters:

    • gripper_id (int): Gripper ID, default 14, value range 1 ~ 254.

  • Return Value: (bool)

    • True - Success

    • False - Failure