https://wiki.cpr-robots.com/index.php?action=history&feed=atom&title=Operating_the_Mover_gripper_using_custom_softwareOperating the Mover gripper using custom software - Revision history2026-05-01T20:53:29ZRevision history for this page on the wikiMediaWiki 1.44.0https://wiki.cpr-robots.com/index.php?title=Operating_the_Mover_gripper_using_custom_software&diff=218&oldid=prevOLT: 1 revision imported2025-08-11T10:13:24Z<p>1 revision imported</p>
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</td></tr></table>OLThttps://wiki.cpr-robots.com/index.php?title=Operating_the_Mover_gripper_using_custom_software&diff=217&oldid=prevcpr>Mab: Added cat2022-02-10T08:37:17Z<p>Added cat</p>
<p><b>New page</b></p><div>This page provides information on how to operate the Mover gripper with a '''custom''' robot control via the CAN bus.<br />
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The gripper in the Mover robots is operated using two digital outputs of the joint4 module:<br />
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* Enable: Module 4 (CAN ID 0x40), second bit<br />
* Open: Module 4 (CAN ID 0x40), first bit<br />
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The Enable bit has to be set to operate the gripper. The Open bit opens and closes the gripper.<br />
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The digital output bits are encoded in the cyclic position control messages, please have a look at the protocol description: [[CAN Protocol]]<br />
Please be aware that the robot has to be in the "No Error" state to allow switching outputs to the high state!<br />
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For a Mover6 with the CPR-CANV2 protocol the according CAN messages might look like:<br />
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* Open Gripper: Message to CAN ID 0x40 with Data: <code>0x14 0x04 0x00 0x00 0x83 0xF1 0x51 0x03</code><br />
The last bit is the digital out bit, outputs 0 and 1 are high now.<br />
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* Close Gripper: Message to CAN ID 0x40 with Data: <code>0x14 0x04 0x00 0x00 0x83 0xF1 0x51 0x02</code><br />
Now only the enable bit is high, the open bit is low.<br />
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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.<br />
[[Category:Mover]][[Category:Tool]]</div>cpr>Mab