set_position_sync Method

XenseGripper.set_position_sync(self, position, vmax=80.0, fmax=27.0, tolerance=0.01, timeout=5.0, poll_interval=0.05)

Synchronous position control (moves the gripper to the target position and blocks until the target position is reached or a timeout occurs)

Parameters:

• position (float) – Target position of the gripper, in millimeters (mm). Must be within the range (0, 85). 0 mm means fully open, 85 mm means fully closed.

• vmax (float) – Maximum movement speed, in millimeters per second (mm/s). Must be within the range (0, 350). The default value is 80 mm/s.

• fmax (float) – Maximum output force, in Newtons (N). Must be within the range (0, 60). The default value is 27 N.

• tolerance (float, 可选) – Position error tolerance for determining movement completion, in millimeters (mm). The default value is 0.01 mm.

• timeout (float, 可选) – Maximum time to wait for the target position to be reached, in seconds. The default value is 5.0 seconds.

• poll_interval (float, 可选) – Time interval for position checking, in seconds. The default value is 0.05 seconds.

Raises:

ValueError – Triggered when any input parameter exceeds its allowed physical limit range.

Returns:

Returns True if the gripper reaches the target position within the timeout period (within the allowed error range), otherwise returns False.

Return type:

bool

Example Code

from xensegripper import XenseGripper

# 创建夹爪实例
gripper = XenseGripper.create("9a14e81bb832")

# 同步设置夹爪位置为 30mm，使用默认参数
success = gripper.set_position_sync(30)

# 同步设置夹爪位置为 70mm，指定参数（符合最新范围）
success = gripper.set_position_sync(
    position=70,          # 在 (0, 85) 范围内
    vmax=250,             # 在 (0, 350) 范围内（高于原示例，体现新上限）
    fmax=50,              # 在 (0, 60) 范围内（高于原示例，体现新上限）
    tolerance=0.02,
    timeout=8.0,
    poll_interval=0.04
)
# 错误示例：力参数超出范围（体现最新上限60N）
try:
    gripper.set_position_sync(40, fmax=70)  # 70N 超过最大 60N 限制
except ValueError as e:
    print(e)