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robotiq3f_py

Control 3f robotiq gripper using python and modbus client

https://github.com/baha2r/robotiq3f_py

Science Score: 44.0%

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Keywords

gripper-control robotiq-3f-gripper robotiq-gripper robotiq3f-py
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Repository

Control 3f robotiq gripper using python and modbus client

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  • Forks: 1
  • Open Issues: 0
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gripper-control robotiq-3f-gripper robotiq-gripper robotiq3f-py
Created over 2 years ago · Last pushed over 1 year ago
Metadata Files
Readme License Citation

README.md

robotiq3f_py

Control the Robotiq 3F gripper using Python and a Modbus TCP client. This library provides a straightforward interface to integrate the Robotiq 3F gripper into your automation projects, allowing for various modes of operation, speed adjustments, and individual finger control.

Features

  • Multiple Modes: Operate the gripper in Basic, Pinch, Wide, and Scissor modes.
  • Speed and Force Control: Fine-tune the speed and force applied by the gripper for delicate or robust operations.
  • Individual Finger Control: Manage each finger separately for precise object manipulation.

Installation

Before you begin, ensure you have Python installed on your system. Then, follow these steps to install the necessary dependencies:

bash pip install pyModbusTCP

Setting Up

To establish a connection with the gripper, configure your Ethernet connection with the following IPv4 settings:

Ethernet Setup

  • Address: 192.168.1.2
  • Netmask: 255.255.255.0
  • Gateway: 0.0.0.0

Usage

Import and initialize the GripperController class with the IP address of your Modbus server:

```python from robotiqcontrol import GripperController

Initialize the controller with the server IP

gripper = GripperController("192.168.1.11")

Activate the gripper

gripper.activate() ```

Examples

Here are some examples of how to use the GripperController:

Basic Mode

```python

Set the gripper to Basic Mode with default speed and force

gripper.command_gripper(rMOD="Basic") ```

Individual Finger Control

```python

Control each finger individually

gripper.command_gripper(rPRA=[255, 255, 255], rMOD="Pinch", rICF=True) ```

Testing

To test the functionality, run the test.py script:

bash python test.py

Troubleshooting

If you encounter any issues, please check the following:

  • Ensure the gripper is powered and connected to the network.
  • Verify the IP address and port settings.
  • Check the Modbus server status.

For more detailed troubleshooting, please refer to the issues section of this repository.

Contribution

Contributions to improve robotiq3f_py are welcome! Please read our contribution guidelines before submitting a pull request.

Support

For additional support or questions, please open an issue in the repository.

Owner

  • Name: Bahador Beigomi
  • Login: baha2r
  • Kind: user
  • Location: Toronto
  • Company: York University

Citation (CITATION.cff) 

cff-version: 1.2.0
message: "If you use this software, please cite it as below."
authors:
- family-names: "Beigomi"
  given-names: "Bahador"
  orcid: "https://orcid.org/0000-0001-5646-2771"
title: "robotiq3f_py"
version: 2.0.0
doi: 10.5281/zenodo.1234
date-released: 2023-05-27
url: "https://github.com/baha2r/robotiq3f_py"

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Dependencies

requirements.txt pypi
  • bzip2 =1.0.8=h7b6447c_0
  • ca-certificates =2023.7.22=hbcca054_0
  • expat =2.5.0=h6a678d5_0
  • ld_impl_linux-64 =2.38=h1181459_1
  • libffi =3.4.4=h6a678d5_0
  • libgcc-ng =11.2.0=h1234567_1
  • libgomp =11.2.0=h1234567_1
  • libstdcxx-ng =11.2.0=h1234567_1
  • libuuid =1.41.5=h5eee18b_0
  • ncurses =6.4=h6a678d5_0
  • openssl =3.0.12=h7f8727e_0
  • pip =23.3=py312h06a4308_0
  • pymodbustcp =0.1.9=pyhd8ed1ab_1
  • python =3.12.0=h996f2a0_0
  • readline =8.2=h5eee18b_0
  • setuptools =68.0.0=py312h06a4308_0
  • sqlite =3.41.2=h5eee18b_0
  • tk =8.6.12=h1ccaba5_0
  • tzdata =2023c=h04d1e81_0
  • wheel =0.41.2=py312h06a4308_0
  • xz =5.4.2=h5eee18b_0
  • zlib =1.2.13=h5eee18b_0