Application interfaces

Since the SSG48 gripper is based on spectral micro BLDC drivers, it inherits all of their control methods and functionality.
Here we will describe only ones that are needed for gripper operation. For full list of commands go Here.
Also since the gripper is based on Spectral micro it has UART interface you can control it with.

drawing

Bits 10 - 7 of CAN ID represent Node ID.
Node IDs can range from 0 - 15 Meaning you can have maximum 16 different devices on one CAN bus.

Default NODE ID

Default NODE ID of the gripper is 0!

Bits 6 - 1 of the CAN ID represent Command ID.
Command IDs can range from 0 - 63.

Bit 0 represents error bit. If spectral micro BLDC controller has any active error this bit will be set to 1. Note this bit is send always by the driver and is independent about the command ID and data.

Node with smallest Node ID is strongest in CAN bus arbitration.

CAN commands

Respond_Gripper_data_pack

Command ID: 60
Direction: Gripper -> host
Python call: None, this command is sent only by driver
Length: 4 byte
Type of frame: standard

Size (bytes)	Variable (Spectral_BLDC Lib python attribute)	Type	Details
0	gripper_position	unsigned 8bit
1-2	gripper_current	16 bit signed
3(bit 0)	gripper_activated	bit (0/1)	gripper activated (1) / deactivated (0)
3(bit 1)	gripper_action_status	bit (0/1)	1 is goto, 0 is idle or performing auto release or in calibration
3(bit 2 and 3)	gripper_object_detection	2 bit	0 in motion, 1 object detected closing, 2 object detected opening, 3 at positon
3(bit 4)	gripper_temperature_error	bit (0/1)	gripper_temperature_error
3(bit 5)	gripper_timeout_error	bit (0/1)	gripper_timeout_error
3(bit 6)	gripper_estop_error	bit (0/1)	gripper_estop_error
3(bit 7)	gripper_calibrated	bit (0/1)	gripper calibration status; calibrated (1) / not calibrated (0)

Send_gripper_data_pack

Command ID: 61
Direction: Host -> Gripper
Python API reference: Send_gripper_data_pack()
Type of frame: standard
Length: 5 byte

Size (bytes)	Variable	Type	Details
0	Position	unsigned 8bit
1	Velocity	unsigned 8bit
2-3	Current	signed 16bit
4(bit 0)	Gripper activate	bit (0/1)	0 - deactivate the gripper, 1 - activate the gripper
4(bit 1)	Gripper action status	bit (0/1)	0 - idle , 1 - movement
4(bit 2)	Gripper estop status	bit (0/1)	0 - No estop, 1 - Estop pressed
4(bit 3)	Gripper release direction	bit (0/1)	Not used

Driver will respond to this command with:
Respond_Gripper_data_pack

Alternatively you can send empty Send_gripper_data_pack command

Command ID: 61
Direction: Host -> Gripper
Python API reference: Send_gripper_data_pack()
Type of frame: standard
Length: 0 byte

Driver will respons to this command with:
Respond_Gripper_data_pack