mode Method

XenseGripper supports three control modes, which can be switched via the mode method (context manager) or the enable_mode/disable_mode methods:

  • POSITION: Position control mode (default), precisely controls the gripper to reach a specified position.

  • SPEED: Speed control mode, drives the gripper to move at the set speed.

  • SAFE: Safe control mode (sensor required), enables safe operation with force feedback.

XenseGripper.mode(self, control_mode, serial_number=None)

A context manager for temporarily switching the gripper’s control mode. The original mode is automatically restored when exiting the context (recommended for use). Use this method with a with statement to ensure the mode is automatically reset after the code block is executed, preventing abnormalities caused by residual modes.

Parameters:

  • control_mode (XenseGripper.ControlMode) – Enumerated value of the control mode. XenseGripper.ControlMode.POSITION: Position control mode. XenseGripper.ControlMode.SPEED: Speed control mode. XenseGripper.ControlMode.SAFE: Safe control mode.

  • serial_number (str, optional) – Sensor serial number (required only for SAFE mode; defaults to the first detected sensor).

Returns:

Context manager object, used to temporarily switch modes in a with statement block.

Return type:

context manager

XenseGripper.enable_mode(self, control_mode, serial_number=None)

Manually enables the specified control mode.

Parameters:

  • control_mode (XenseGripper.ControlMode) – Enumerated value of the control mode (same as the mode method).

  • serial_number (str, optional) – Sensor serial number (required only for SAFE mode).

Returns:

Whether the operation is successful.

Return type:

bool

XenseGripper.disable_mode(self)

Manually disables the current control mode, automatically restores to the default mode, and stops the action.

Returns:

Whether the operation is successful.

Return type:

bool

Example Code

  1. Position Control Mode (default mode, no manual switching required)

from xensegripper import XenseGripper

gripper = XenseGripper.create(mac_addr="9a14e81bb832")
gripper.set_position(30)  # Directly set position (defaults to POSITION mode)

  1. Speed Control Mode

# Use context manager (recommended)
with gripper.mode(XenseGripper.ControlMode.SPEED):
    gripper.set_speed(50)   # Set speed to 50 mm/s
    time.sleep(2)
    gripper.set_speed(0)    # Stop

# Manual mode switching
gripper.enable_mode(XenseGripper.ControlMode.SPEED)
gripper.set_speed(30)
gripper.disable_mode()  # Automatically stop and restore original mode

  1. Safe Control Mode (sensor required)

# Use context manager (recommended)
# Sensor serial number can be specified; defaults to the first detected sensor
with gripper.mode(XenseGripper.ControlMode.SAFE, serial_number=None):
    # Set control parameters (optional; stiffness range: 0.1~0.6)
    gripper.set_control_param(stiffness=0.35)

    # Position control (with force feedback protection)
    gripper.set_position(20)

# Manual mode switching
gripper.enable_mode(XenseGripper.ControlMode.SAFE, serial_number="OG000285")
gripper.set_control_param(stiffness=0.4)
gripper.set_position(15)
gripper.disable_mode()  # Automatically stop and restore original mode