Control the Robotiq 3F gripper using Python and a Modbus TCP client. This library provides a straightforward interface to integrate the Robotiq 3F gripper into your automation projects, allowing for various modes of operation, speed adjustments, and individual finger control.

• Multiple Modes: Operate the gripper in Basic, Pinch, Wide, and Scissor modes.
• Speed and Force Control: Fine-tune the speed and force applied by the gripper for delicate or robust operations.
• Individual Finger Control: Manage each finger separately for precise object manipulation.

Before you begin, ensure you have Python installed on your system. Then, follow these steps to install the necessary dependencies:

pip install pyModbusTCP

To establish a connection with the gripper, configure your Ethernet connection with the following IPv4 settings:

• Address: 192.168.1.2
• Netmask: 255.255.255.0
• Gateway: 0.0.0.0

Import and initialize the GripperController class with the IP address of your Modbus server:

from robotiqcontrol import GripperController

# Initialize the controller with the server IP
gripper = GripperController("192.168.1.11")

# Activate the gripper
gripper.activate()

Here are some examples of how to use the GripperController:

# Set the gripper to Basic Mode with default speed and force
gripper.command_gripper(rMOD="Basic")

# Control each finger individually
gripper.command_gripper(rPRA=[255, 255, 255], rMOD="Pinch", rICF=True)

To test the functionality, run the test.py script:

python test.py

If you encounter any issues, please check the following:

• Ensure the gripper is powered and connected to the network.
• Verify the IP address and port settings.
• Check the Modbus server status.

For more detailed troubleshooting, please refer to the issues section of this repository.

Contributions to improve robotiq3f_py are welcome! Please read our contribution guidelines before submitting a pull request.

For additional support or questions, please open an issue in the repository.