Check if suction cup is holding load - xArm7

1

Hello,

Is there a function which returns a boolean value or some sort of callback to let the user know if the suction cup is holding a load or if it failed to suck something up?

2

Are you talking about this feature?

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image1136×805 56.3 KB

3

Yes! In the Python SDK how is this done?

4

Hi，you can refer to the example below：

import sys

import time

import datetime

import threading

from xarm import version

from xarm.wrapper import XArmAPI

print(‘xArm-Python-SDK Version:{}’.format(version.version))

arm = XArmAPI(‘192.168.1.135’)

arm.clean_warn()

arm.clean_error()

arm.motion_enable(True)

arm.set_mode(0)

arm.set_state(0)

time.sleep(1)

arm.set_position(*[425.9, 0.0, 678.8, 180.0, 0.0, 0.0], speed=200, mvacc=20000, radius=-1.0, wait=True)

arm.set_position(*[430.4, 0.0, 389.7, 180.0, -1.2, 0.1], speed=200, mvacc=20000, radius=-1.0,wait=True)

arm.set_suction_cup(True, False)

for i in range(int(6)):

if arm.get_suction_cup()[1] == 1:

break

time.sleep(0.5)

if arm.get_suction_cup()[1] == 1:

arm.set_servo_angle(angle=[97.8, -23.9, -93.9, 0.0, 116.1, 0.0],speed=20, mvacc=500,wait=True)

arm.set_position(*[-36.9, 344.5, 471.8, 180.0, -1.7, 97.8], speed=200,mvacc=20000, radius=-1.0, wait=True)

arm.set_suction_cup(False, False)

arm.set_position(*[425.9, 0.0, 678.8, 180.0, 0.0, 0.0], speed=200,mvacc=20000, radius=-1.0, wait=True)

else:

arm.set_servo_angle(angle=[-81.9, -23.9, -93.9, 0.0, 116.1, 0.0],speed=20, mvacc=500, wait=True)