G-code command for grip

Hello,
I am retrofitting a robot arm with a grip as a tool.

I am wondering which command should I use for opening or closing the grip?

Really depends how it is done.

Unless the actuation is part of an axis, would have thought a M code would be best.

If it is an on/off thing you could reuse coolant or something like that, but would suspect it might be a bit more complex, so probably a user M code
www.linuxcnc.org/docs/html/gcode/m-code.html#sec:M100-to-M199

regards

ArcEye wrote: If it is an on/off thing you could reuse coolant or something like that, but would suspect it might be a bit more complex, so probably a user M code

It's a stepmotor and I need 6 pins to activate the direction and the steps.
My thoughts are, make a component which triggered by a command and change the state of these 6 pins depends on opening or closing.


Thank you a lot!

It's a stepmotor and I need 6 pins to activate the direction and the steps.
My thoughts are, make a component which triggered by a command and change the state of these 6 pins depends on opening or closing.

If it is a stepper motor, you can just assign it to an axis, declare that axis as rotary and set the soft limits to match the movement of the gripper.
That will allow you to use G codes and leave the stepper commands to the stepper driver to output direction etc

Then for instance G01 W25 F15 might close the grip slowly and G00 W0 might open it fast (assuming a 25 degree range of movement)

There will be lots of ways to do this, that is one

regards

EMCMOT section of linuxCNC is not very clear in my head.

Do I have to include, the grip, in reverse kinematics if I assign it to an axis?

Afraid I don't know enough (anything :laugh: ) about robotics to be able to answer.

I can imagine setups where the articulation of the 'hand' is definately part of the inverse kinematics calculation and others where it is merely an open and close mechanism and its orientation is done by the 'wrist'.

Hopefully someone with better knowledge will chime in

regards