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 indicates fully open, 85 mm indicates fully closed.

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

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

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

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

  • poll_interval (float, optional) – Time interval for position checks, in seconds. 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

# Create a gripper instance
gripper = XenseGripper.create("9a14e81bb832")

# Synchronously set the gripper position to 30mm using default parameters
success = gripper.set_position_sync(30)

# Synchronously set the gripper position to 70mm with specified parameters (complying with the latest ranges)
success = gripper.set_position_sync(
    position=70,          # Within (0, 85) range
    vmax=250,             # Within (0, 350) range (higher than original example, reflecting new upper limit)
    fmax=50,              # Within (0, 60) range (higher than original example, reflecting new upper limit)
    tolerance=0.02,
    timeout=8.0,
    poll_interval=0.04
)
# Error example: Force parameter out of range (reflecting the latest upper limit of 60N)
try:
    gripper.set_position_sync(40, fmax=70)  # 70N exceeds the maximum limit of 60N
except ValueError as e:
    print(e)