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Hand: Excessive position error #46

Closed karl-exwzd closed 2 years ago

karl-exwzd commented 2 years ago

While using a Cobotta robot with its standard gripper (controller version 2.8.0) via ROS Noetic. I tried to grasp an object which obviously stalled the gripper.

The robot triggered the Hand: Excessive position error (checked via RemoteTP).

I understand that the gripper will not reach its requested position, but that should not be a reason to trigger an error in this case. How can I prevent this error from occurring? Perhaps there are some hidden settings to allow for large position errors?

ToshitakaSuzuki commented 2 years ago

Do you use HandMoveA command? This command is for releasing an object or only moving fingers. When grasping an object, it is recommended to use grasping commands such as:

For details, please refere to Official User's manual.

karl-exwzd commented 2 years ago

@ToshitakaSuzuki Thank you very much. This solved my issue.

It is not trivial to understand what types of variants need to be sent and what the robot limits are, but I figured them out through trial and error: it seems the gripper effort can only be set between 6 and 20N, I haven't seen specifications related to these limits anywhere...