Struct VacuumGripperState

Struct Documentation

struct VacuumGripperState

Describes the vacuum gripper state. For more information check the cobot-pump manual.

Public Members

bool in_control_range = {}

Vacuum value within in setpoint area.

bool part_detached = {}

The part has been detached after a suction cycle

bool part_present = {}

Vacuum is over H2 and not yet under H2-h2. For more information check the cobot-pump manual.

VacuumGripperDeviceStatus device_status = {}

Current vacuum gripper device status.

uint16_t actual_power = {}

Current vacuum gripper actual power. Unit: [.

uint16_t vacuum = {}

Current system vacuum. Unit: [mbar].

Duration time = {}

Strictly monotonically increasing timestamp since robot start.