View source for Operating the Mover gripper using custom software

This page provides information on how to operate the Mover gripper with a '''custom''' robot control via the CAN bus.

The gripper in the Mover robots is operated using two digital outputs of the joint4 module:

* Enable: Module 4 (CAN ID 0x40), second bit
* Open: Module 4 (CAN ID 0x40), first bit

The Enable bit has to be set to operate the gripper. The Open bit opens and closes the gripper.

The digital output bits are encoded in the cyclic position control messages, please have a look at the protocol description: [[CAN Protocol]]
Please be aware that the robot has to be in the "No Error" state to allow switching outputs to the high state!

For a Mover6 with the CPR-CANV2 protocol the according CAN messages might look like:

* Open Gripper: Message to CAN ID 0x40 with Data: <code>0x14 0x04 0x00 0x00 0x83 0xF1 0x51 0x03</code>
The last bit is the digital out bit, outputs 0 and 1 are high now.

* Close Gripper: Message to CAN ID 0x40 with Data: <code>0x14 0x04 0x00 0x00 0x83 0xF1 0x51 0x02</code>
Now only the enable bit is high, the open bit is low.

To ease the development: It might help to have a look at the CAN communication generated by CPRog. You can do this with the [https://www.peak-system.com/PCAN-View.242.0.html?&L=1 PCANView] CAN monitor provided with the [https://www.peak-system.com/PCAN-USB.199.0.html PCAN-USB adapter]. Here you can see the CAN messages, and also the last byte of the joint 4 command messages which contains the gripper commands.
[[Category:Mover]]