ATOM stops processing commands for tens of seconds after invoking set_gripper_state(1, speed)

[3110]

Firmware: AtomMain 2.5
pymycobot: 2.2.0

When invoking set_gripper_state(1, speed), ATOM stops processing commands and locks the adaptive gripper for about 40 seconds.

[zlj-zz]

So what's the problem? too slow?

[3110]

Is this calibration problem? I want to open and close the gripper quickly with set_gripper_state(1, speed) and set_gripper_state(0, speed). How can I avoid locking the gripper?

[zlj-zz]

What is the type of your gripper?

[3110]

My gripper is MyCobot Adaptive Gripper

[zlj-zz]

You can try to turn off the power and open the gripper to the maximum.
Then initialize at that location and continue trying.

Initialization using set_gripper_ini()

set_gripper_ini()

    Description

    Set the current position to zero

    Current position value is 248.

[3110]

I try the following code with pymycobot 2.1.2 after opening the gripper to the maximum:

>>> from pymycobot.mycobot import MyCobot
>>> mycobot = MyCobot("COM11")
>>> mycobot.set_gripper_ini()
>>> mycobot.set_gripper_state(1, 50) # closing the gripper is OK, but the gripper gets stuck
>>> mycobot.set_gripper_state(0, 50) # the gripper doesn't move

[zlj-zz]

Did you initialize it?
You need to initialize once when the gripper is maximum, just once.
The initialization method is given above.

[3110]

I finally understand how to initialize the gripper.

1. Turn off the power
2. Open the gripper to the maximum
3. Turn on the power
4. Connect MyCobot and call set_gripper_ini() to initialize the gripper
5. Turn off the power and turn on the power
6. Connect MyCobot, then call set_gripper_state(1, 50) and set_gripper_state(0, 50) -> OK

Is this right ?

[zlj-zz]

That's right.
But you don't have to go to the fifth step. After initialization, you can use it directly.

[3110]

Thanks you !