Library GRIPLINK Documentation
Description and requirements
The GRIPLINK plug-in connects WEISS ROBOTICS GRIPLINK technology to STÄUBLI robot systems.
It provides VAL3 programs to communicate with GRIPLINK Controllers.
Originally introduced with the GRIPLINK controller, the protocol has since evolved into a common communication layer across multiple WEISS ROBOTICS products,
including the WPG series servo grippers, the INTRAPAL palletizing gripper, and future GRIPLINK-enabled devices.
| Basic program flow |
| 1. | CONNECT to the GRIPLINK controller. Call once at program start. |
| 2. | Optional: Reference devices that require it (e.g., servo grippers without absolute encoders) using HOME. Devices with absolute encoders do not need referencing. |
| 3. | Activate devices using ENABLE. |
| 4. | Execute device functions, e.g., gripping or releasing for gripper modules (GRIP, RELEASE), or query device states and values. |
| 5. | DISCONNECT when the interface must be physically separated (e.g. tool change) or when the program ends. |
|
| Hardware required |
CS9 |
| Required options |
Stäubli SRS |
| VAL3 options |
VAL3 version: 8 |
| Library version |
4.0.0.0 |
| Included libraries |
none |
| Network |
The GRIPLINK controller IP address must be on the same subnet as the robot controller. See the GRIPLINK controller manual for the IP change procedure. |
Error handling
A TCP/IP connection loss or timeout results in a VAL3 runtime error.
On any non-zero value returned in x_nErrorCode, the plug-in resolves it into a human-readable message, shows a popup, and creates a log entry.
Application-level recovery (stop motion, move to safe pose) is the integrator's responsibility.
As an example, see the errorHandling template in GRIPLINK_Examples as a starting point.
Every public sub-program passes by reference a numeric error code (x_nErrorCode):
0 (E_SUCCESS) — command executed successfully
1..27 — GRIPLINK controller returned an error code
-1 (E_INVALID_RESPONSE) — VAL3 side: empty or unparseable response
Blocking mode with DOBLOCK
Use the DOBLOCK parameter to control whether a command blocks until completion or returns immediately:
DOBLOCK = 1 (the command blocks until the operation completes).
DOBLOCK = 0 (the command returns immediately after motion was initiated).
Note on emergency stop
An emergency stop interrupts robot motion but does not terminate the TCP/IP connection to the GRIPLINK controller.
The GRIPLINK plug-in intentionally does not handle emergency stop events.
The appropriate response depends on the application — e.g. whether the gripper
should be deactivated or remain active to safely retain the workpiece.
Safety handling must therefore be implemented separately in the user program.
The programmer can query the emergency stop by using the VAL3 function esStatus() (See the VAL3 reference manual) in the user program and respond accordingly based on the application requirements.
Changelog
| Version |
Change |
Details |
| 4.0.0 |
Floating-point parameters |
Scaled integer parameters replaced by floating-point parameters. Affects SETGRIPCFG, VALUE, SETVAL, WAITVAL. Values are now in physical units (e.g. mm instead of mm × 1000). Example: POSITION = 19500 becomes POSITION = 19.5. |
| 4.0.0 |
GRIP / RELEASE signature change |
Parameter x_bWstrEnabled (bool) replaced by x_nDoBlock (num). v3: grip(port, preset, devstate&, bWstrEnabled:bool). v4: grip(port, preset, nDoBlock:num, errorCode&). |
| 4.0.0 |
WAITVAL extended |
New parameters for precise value monitoring: threshold, tolerance window, and timeout. v3: waitval(port, index, value). v4: waitval(port, index, threshold, windowsize, timeout). |
| 4.0.0 |
CLAMP parameter type |
Parameter x_bEnable (bool) replaced by x_nEnable (num). Use 1/0 instead of true/false. v3: clamp(port, bEnable:bool). v4: clamp(port, nEnable:num). |
| 4.0.0 |
New commands: FLEXGRIP, FLEXRELEASE |
FLEXGRIP: gripping with freely selectable motion parameters (position, force, speed, acceleration). FLEXRELEASE: release with freely selectable motion parameters (position, speed, acceleration). |
| 4.0.0 |
Deprecated commands |
MGRIP, MRELEASE, MWAITFOR retained for backward compatibility. For new projects, use GRIP/RELEASE with DOBLOCK = 0 and WSTR. |
Important: Version 4.0.0 is not fully backward-compatible.
Existing applications must be reviewed and adapted (scaling factors, GRIP/RELEASE signature, WAITVAL signature, CLAMP parameter type).
A complete functional test after migration is recommended.
Description of functions
public clamp(...)
public connect(...)
public devassert(...)
public deviceState(...)
public disable(...)
public disconnect(...)
public enable(...)
public flexgrip(...)
public flexrelease(...)
public grip(...)
public home(...)
public led(...)
public mgrip(...)
public mrelease(...)
public mwaitfor(...)
public release(...)
public setgripcfg(...)
public setvalue(...)
public value(...)
public waitval(...)
public wstr(...)
public clamp(num x_nPort, num x_nEnable, num& x_nErrorCode)
Description of program
Control the force retention feature.
Signature
call griplink:clamp(x_nPort, x_nEnable, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 to 31). |
| x_nEnable |
num |
Grip force retention: 1 = enabled, 0 = disabled |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Examples
| Description | Code |
| Enable grip force retention for the device on port 2 |
call griplink:clamp(2, 1, x_nErrorCode) |
Notes
The CLAMP command is not available on all gripping modules.
History
| Date | Author | Description |
| 02-05-26 |
H. Efkere |
Modification. Changed parameter x_bEnable (bool) to x_nEnable (num). On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public connect(sio& x_sioSocket, num& x_nErrorCode)
Description of program
Establishes a connection to the GRIPLINK controller before calling any other function.
Signature
call griplink:connect(x_sioSocket, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_sioSocket |
sio& (by reference) |
Open serial I/O socket to the GRIPLINK controller. The function binds the internal sioSocket alias to this variable; all subsequent calls communicate through it. |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure (unexpected response); 0 on success; GRIPLINK controller error codes 1-27 (see readme) |
Notes
Error handling: see readme for details.
Avoid calling this command in a loop, as closing and opening a connection is resource-intensive on the robot controller.
Examples
| Description | Code |
| Open the connection to the GRIPLINK controller |
call griplink:connect(sioGriplink, x_nErrorCode) |
History
| Date | Author | Description |
| 07-05-26 |
H. Efkere |
Modification. Clears socket buffer before opening connection. Verifies that the GRIPLINK controller supports the required protocol version (3). On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public devassert(num x_nPort, num x_nVid, num x_nPid, num& x_nErrorCode)
Description of program
Assert type of connected device.
Signature
call griplink:devassert(x_nPort, x_nVid, x_nPid, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 to 31). |
| x_nVid |
num |
Vendor ID specified in the IODD of the expected device |
| x_nPid |
num |
Product ID specified in the IODD of the expected device |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Notes
The Vendor IDs and Product IDs are documented in the device description provided by the manufacturer or in the IODD.
Error handling: see readme for details.
Examples
| Description | Code |
| Ensure that the STERIGRIP 200-030 device from Weiss Robotics (VID 815, PID 52) is connected to port x_nPortGripper |
call griplink:devassert(x_nPortGripper, 815, 52, x_nErrorCode) |
History
| Date | Author | Description |
| 12-05-26 |
H. Efkere |
Modification. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public deviceState(num x_nPort, num& x_nDeviceState, num& x_nErrorCode)
Description of program
Get device state.
Signature
call griplink:deviceState(x_nPort, x_nDeviceState, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 to 31). |
Output parameters
| Argument | Type | Description |
| x_nDeviceState |
num& (by reference) |
Current device status. |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Notes
Error handling: see readme for details.
Examples
| Description | Code |
| Read the current device state for the gripper on port x_nPortGripper |
call griplink:deviceState(x_nPortGripper, x_nDeviceState, x_nErrorCode) |
History
| Date | Author | Description |
| 18-05-26 |
H. Efkere |
Modification. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public disable(num x_nPort, num& x_nDeviceState, bool x_bWstrEnabled, num& x_nErrorCode)
Description of program
Disable device port.
If x_bWstrEnabled is true, blocks until the device reaches a stable state by calling wstr() internally and returning the resulting device state.
Signature
call griplink:disable(x_nPort, x_nDeviceState, x_bWstrEnabled, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 to 31). |
| x_bWstrEnabled |
bool |
If true, waits for state transition after disabling (calls wstr internally). |
Output parameters
| Argument | Type | Description |
| x_nDeviceState |
num& (by reference) |
Device state after the transition (from wstr) |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Notes
Behavior may vary depending on the connected device. Please refer to the instructions in the respective device driver manual!
Error handling: see readme for details.
Examples
| Description | Code |
| Disable with waiting for state transition. |
call griplink:disable(x_nPortGripper, x_nDeviceState, true, x_nErrorCode) |
| Disable without waiting for state transition. |
call griplink:disable(x_nPortGripper, x_nDeviceState, false, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Modification. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public disconnect()
Description of program
Close the TCP/IP socket to the GRIPLINK controller.
Signature
call griplink:disconnect()
Input parameters
None
Output parameters
None
Notes
Closes the socket connection. Call wherever the connection needs to be closed
(e.g. tool change).
Examples
| Description | Code |
| Close the connection to the GRIPLINK controller |
call griplink:disconnect() |
History
| Date | Author | Description |
| 08-05-26 |
H. Efkere |
Creation. Closes the TCP session on the VAL3 side via clearBuffer(sioSocket). Logs a warning if the connection was already closed. |
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public enable(num x_nPort, num& x_nDeviceState, bool x_bWstrEnabled, num& x_nErrorCode)
Description of program
Enable device port.
If x_bWstrEnabled is true, blocks until the device reaches a stable state
by calling wstr() internally and returning the resulting device state.
Signature
call griplink:enable(x_nPort, x_nDeviceState, x_bWstrEnabled, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 to 31). |
| x_bWstrEnabled |
bool |
If true, waits for state transition after enabling (calls wstr internally). |
Output parameters
| Argument | Type | Description |
| x_nDeviceState |
num& (by reference) |
Device state after the transition (from wstr). |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Notes
Behavior may vary depending on the connected device. Please refer to the instructions in the respective device driver manual!
Error handling: see readme for details.
Examples
| Description | Code |
| Enable with waiting for state transition. |
call griplink:enable(x_nPortGripper, x_nDeviceState, true, x_nErrorCode) |
| Enable without waiting for state transition. |
call griplink:enable(x_nPortGripper, x_nDeviceState, false, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Modification. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public flexgrip(num x_nPort, num x_nPosition, num x_nForce, num x_nSpeed, num x_nAcceleration, num x_nDoBlock, num& x_nErrorCode)
Description of program
Flexible gripping using motion parameters.
Signature
call griplink:flexgrip(x_nPort, x_nPosition, x_nForce, x_nSpeed, x_nAcceleration, x_nDoBlock, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 – 31). |
| x_nPosition |
num |
Target position representing the No Part Limit in mm. |
| x_nForce |
num |
Gripping force in N. |
| x_nSpeed |
num |
Gripping speed in mm/s (Set to 0 for using the auto-computed speed value based on the selected gripping force). |
| x_nAcceleration |
num |
Finger acceleration in mm/s² (Set to 0 for using the default acceleration value). |
| x_nDoBlock |
num |
0 = Return immediately after motion was initiated, 1 = Block, until the grip motion was finished. |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Notes
This command is not available for all devices.
Error handling: see readme for details.
Examples
| Description | Code |
| Grip with 60 N, no-part-limit = 15 mm, speed = 45.5 mm/s, using the default acceleration value, non-blocking |
call griplink:flexgrip(x_nPortGripper, 15, 60, 45.5, 0, 0, x_nErrorCode) |
| Same parameters, blocking (x_nDoBlock = 1). |
call griplink:flexgrip(x_nPortGripper, 15, 60, 45.5, 0, 1, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Creation. Added FLEXGRIP command for flexible gripping using motion parameters. Floating-point parameters are supported. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public flexrelease(num x_nPort, num x_nPosition, num x_nSpeed, num x_nAcceleration, num x_nDoBlock, num& x_nErrorCode)
Description of program
Flexible releasing using motion parameters.
Signature
call griplink:flexrelease(x_nPort, x_nPosition, x_nSpeed, x_nAcceleration, x_nDoBlock, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 – 31) |
| x_nPosition |
num |
Target position representing the Release Limit in mm. |
| x_nSpeed |
num |
Release speed in mm/s (Set to 0 for using the default release speed value). |
| x_nAcceleration |
num |
Release acceleration in mm/s² (Set to 0 for using the default acceleration value). |
| x_nDoBlock |
num |
0 = Return immediately after motion was initiated, 1 = Block, until the release motion was finished. |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Notes
This command is not available for all devices.
Error handling: see readme for details.
Examples
| Description | Code |
| Pre-position the gripper on port x_nPortGripper to 19.5 mm using default speed and acceleration, non-blocking |
call griplink:flexrelease(x_nPortGripper, 19.5, 0, 0, 0, x_nErrorCode) |
| Same parameters, blocking (x_nDoBlock = 1) |
call griplink:flexrelease(x_nPortGripper, 19.5, 0, 0, 1, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Creation. Added FLEXRELEASE command for parametric release without a stored preset. Typical use is asynchronous pre-positioning of the fingers while the robot is still travelling to the pick pose. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public grip(num x_nPort, num x_nPreset, num x_nDoBlock, num& x_nErrorCode)
Description of program
Grip with the selected grip preset.
Signature
call griplink:grip(x_nPort, x_nPreset, x_nDoBlock, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 to 31). |
| x_nPreset |
num |
Grip index. The number of available recipes/presets depends on the connected device. |
| x_nDoBlock |
num |
Blocking mode. 1: Block, until either workpiece was gripped or not found. 0: Return immediately after motion was initiated |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Notes
Error handling: see readme for details.
Examples
| Description | Code |
| Grip on port x_nPortGripper using preset 0, blocking; |
call griplink:grip(x_nPortGripper, 0, 1, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Modification. Parameter x_bWstrEnabled (bool) replaced by x_nDoBlock (num). On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public home(num x_nPort, num& x_nErrorCode)
Description of program
Perform a homing sequence.
Signature
call griplink:home(x_nPort, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 to 31). |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Notes
The function will block until the homing sequence is completed.
Error handling: see readme for details.
Examples
| Description | Code |
| Perform a homing sequence for the gripper on port x_nPortGripper |
call griplink:home(x_nPortGripper, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Modification. Device state is no longer queried automatically after homing; call griplink:deviceState() explicitly if the state is needed. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public led(num x_nPort, num x_nPreset, num& x_nErrorCode)
Description of program
Set LED visualization.
Signature
call griplink:led(x_nPort, x_nPreset, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 to 31). |
| x_nPreset |
num |
LED preset index |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Notes
This command is not available for all devices.
Error handling: see readme for details.
Examples
| Description | Code |
| Set LED visualization preset 1 for the device on port 2 |
call griplink:led(2, 1, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Modification. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public mgrip(num x_nPreset, num x_nPorts, bool x_bMwaitforEnabled, num& x_nErrorCode)
Description of program
This command is deprecated. Grip with selected devices.
Signature
call griplink:mgrip(x_nPreset, x_nPorts, x_bMwaitforEnabled, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPreset |
num |
Grip preset index |
| x_nPorts |
num |
Port bitmask encoding the selected devices (bit 0 = port 0, bit 1 = port 1) |
| x_bMwaitforEnabled |
bool |
If true, calls MWAITFOR to wait for completion |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure (unexpected response); 0 on success; GRIPLINK controller error codes 1-27 (see readme) |
Notes
Error handling: see readme for details.
Examples
| Description | Code |
Grip preset 0 on ports 0, 1, 2, 3
x_nPorts = 15 (0b1111 → MGRIP(0,1,1,1,1)) |
x_nPorts = 15
call griplink:mgrip(0, x_nPorts, true, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Modification. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public mrelease(num x_nPreset, num x_nPorts, bool x_bMwaitforEnabled, num& x_nErrorCode)
Description of program
This command is deprecated. Release with selected devices.
Signature
call griplink:mrelease(x_nPreset, x_nPorts, x_bMwaitforEnabled, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPreset |
num |
Release preset index |
| x_nPorts |
num |
Port bitmask encoding the selected devices (bit 0 = port 0, bit 1 = port 1) |
| x_bMwaitforEnabled |
bool |
If true, calls MWAITFOR to wait for completion |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure (unexpected response); 0 on success; GRIPLINK controller error codes 1-27 (see readme) |
Notes
Error handling: see readme for details.
Examples
| Description | Code |
Release preset 0 on ports 0, 1, 2, 3
x_nPorts = 15 (0b1111 → MRELEASE(0,1,1,1,1)) |
x_nPorts = 15
call griplink:mrelease(0, x_nPorts, true, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Modification. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public mwaitfor(num x_nPorts, num& x_nErrorCode)
Description of program
This command is deprecated. Wait for state transition on multiple devices.
Signature
call griplink:mwaitfor(x_nPorts, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPorts |
num (by value) |
Bitmask encoding the selected device ports |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure (unexpected response); 0 on success; GRIPLINK controller error codes 1-27 (see readme) |
Notes
Error handling: see readme for details.
Examples
| Description | Code |
Wait for completion on ports 0, 1, 2, 3
x_nPorts = 15 (0b1111 → MWAITFOR(1,1,1,1)) |
x_nPorts = 15
call griplink:mwaitfor(x_nPorts, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Modification. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public release(num x_nPort, num x_nPreset, num x_nDoBlock, num& x_nErrorCode)
Description of program
Release with the selected grip preset.
Signature
call griplink:release(x_nPort, x_nPreset, x_nDoBlock, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 to 31). |
| x_nPreset |
num |
Grip index. The number of available recipes/presets depends on the connected device. |
| x_nDoBlock |
num |
Blocking mode. 1: Block, until the release motion was finished. 0: Return immediately after motion was initiated (default). |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Notes
Error handling: see readme for details.
Examples
| Description | Code |
| Release the workpiece previously gripped by the gripper on port x_nPortGripper using preset 0, blocking |
call griplink:release(x_nPortGripper, 0, 1, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Modification. Parameter x_bWstrEnabled (bool) replaced by x_nDoBlock (num). On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public setgripcfg(num x_nPort, num x_nPreset, string x_sTag, num& x_nParams[---], num& x_nErrorCode)
Description of program
Set grip configuration
Signature
call griplink:setgripcfg(x_nPort, x_nPreset, x_sTag, x_nParams, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 to 31). |
| x_nPreset |
num |
Grip preset index |
| x_sTag |
string |
Preset tag name string |
| x_nParams |
numArray |
For WEISS ROBOTICS gripper modules: [No-Part limit (mm), Release limit (mm), Force factor (%)]
For WEISS ROBOTICS WPG series (params 0 to 7): [No-Part limit (mm), Release limit (mm), Force factor (%), Grip speed (mm/s), Grip acceleration (mm/s2), Release speed (mm/s), Release acceleration (mm/s2), Reserved] |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure (unexpected response); 0 on success; GRIPLINK controller error codes 1-27 (see readme) |
Notes
Error handling: see readme for details.
Examples
| Description | Code |
No-Part limit 42.5 mm
Release limit 60.5 mm
Force factor 70 % |
x_nParams[0] = 42.5
x_nParams[1] = 60.5
x_nParams[2] = 70
call griplink:setgripcfg(x_nPortGripper, 0, "Test1", x_nParams, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Modification. Added floating point support. Scaled integer values are replaced with floating point values. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public setvalue(num x_nPort, num x_nValueIndex, num x_nValue, num& x_nErrorCode)
Description of program
This function can be used to set a device value.
Signature
call griplink:setvalue(x_nPort, x_nValueIndex, x_nValue, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 to 31). |
| x_nValueIndex |
num |
Value index. The number of provided values depends on the connected device. |
| x_nValue |
num |
Value to set. |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Caution Risk of injury
The SETVAL command may lead to sudden movement on actuators!
Notes
The behavior strongly depends on the connected device type and the value index.
Error handling: see readme for details.
Examples
| Description | Code |
| Set value index 0 to 15.5 on the device at port x_nPortGripper. |
call griplink:setvalue(x_nPortGripper, 0, 15.5, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Modification. Scaled integer parameters replaced by floating-point parameters. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public value(num x_nPort, num x_nValueIndex, num& x_nValue, num& x_nErrorCode)
Description of program
Read a sensor value from the given device.
Signature
call griplink:value(x_nPort, x_nValueIndex, x_nValue, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 to 31). |
| x_nValueIndex |
num |
Value index. The number of provided values depends on the connected device. |
Output parameters
| Argument | Type | Description |
| x_nValue |
num& (by reference) |
Returned value |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Notes
If the sensor value is out of range, depending on the direction of overflow, the VALUE function
returns 2.147.483.647 (INT32 MAX) or -2.147.483.648 (INT32 MIN)
Error handling: see readme for details.
Examples
| Description | Code |
| Retrieve the finger position (value index 0) of the connected gripper on port x_nPortGripper |
call griplink:value(x_nPortGripper, 0, x_nValue, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Modification. Scaled integer parameters replaced by floating-point parameters. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public waitval(num x_nPort, num x_nIndex, num x_nThreshold, num x_nWindowsize, num x_nTimeout, num& x_nErrorCode)
Description of program
This function can be used to wait until the desired value has reached or crosses a threshold window.
Signature
call griplink:waitval(x_nPort, x_nIndex, x_nThreshold, x_nWindowsize, x_nTimeout, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num |
Port index (0 to 31). |
| x_nIndex |
num |
Value index (0..n-1). The number of provided values depends on the connected device. |
| x_nThreshold |
num |
Target value threshold to wait for (mm). |
| x_nWindowsize |
num |
Size of the window around the threshold value to check for (mm). |
| x_nTimeout |
num |
Timeout (ms). |
Output parameters
| Argument | Type | Description |
| x_nErrorCode |
num& (by reference). |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Notes
The command returns a timeout error (ERR 05) via x_nErrorCode when the execution time exceeds the specified timeout.
This command is not available for all devices.
Error handling: see readme for details.
Examples
| Description | Code |
| Wait for the position value at index 0 to reach 30 mm (window +-0.02 mm) within 1500 ms. |
call griplink:waitval(x_nPortGripper, 0, 30, 0.02, 1500, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Modification. New function signature with floating-point support. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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public wstr(num x_nPort, num& x_nDeviceState, num& x_nErrorCode)
Description of program
This query can be used to detect the end of the previous state-manipulating command like GRIP, RELEASE, HOME, etc.
Signature
call griplink:wstr(x_nPort, x_nDeviceState, x_nErrorCode)
Input parameters
| Argument | Type | Description |
| x_nPort |
num (by value) |
Port index (0 to 31). |
Output parameters
| Argument | Type | Description |
| x_nDeviceState |
num& (by reference) |
Device state. |
| x_nErrorCode |
num& (by reference) |
-1 on parse failure; 0 on success; GRIPLINK controller returned an error code 1-27. |
Notes
The query waits, until a device state transition occurs and returns the new device state.
If no state transition occurs, the query returns with a timeout error via x_nErrorCode.
Error handling: see readme for details.
Examples
| Description | Code |
| Wait for the next state transition on port x_nPortGripper and retrieve the new device state |
call griplink:wstr(x_nPortGripper, x_nDeviceState, x_nErrorCode) |
History
| Date | Author | Description |
| 11-05-26 |
H. Efkere |
Creation.The query waits, until a device state transition occurs and returns the new device state. If no state transition occurs, the query returns with a timeout error via x_nErrorCode. On success, writes 0 to the by-reference output parameter x_nErrorCode. |
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