End effectors

Control the suction cup, gripper, and laser.

Each method waits until the arm has executed the command (inside batch, it only queues it), returns True, and raises a DobotAlarmError subclass if the arm reports an alarm.

Member	Description
Magician.set_endeffector_suctioncup	Set the suction cup state.
Magician.set_endeffector_gripper	Set the gripper state.
Magician.set_endeffector_laser	Set the laser state.
EndEffectorType	End-effector identifiers.

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Magician.set_endeffector_suctioncup

Magician.set_endeffector_suctioncup(enable, on) -> bool

Set the suction cup state.

Parameters

Name	Type	Description
enable	bool	Power the suction cup pump.
on	bool	True applies suction. False releases.

Returns bool: True.

Example

bot.set_endeffector_suctioncup(True, True)  # pick
bot.set_endeffector_suctioncup(True, False)  # release

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Magician.set_endeffector_gripper

Magician.set_endeffector_gripper(enable, on) -> bool

Set the gripper state.

Parameters

Name	Type	Description
enable	bool	Power the gripper.
on	bool	True closes the gripper. False opens it.

Returns bool: True.

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Magician.set_endeffector_laser

Magician.set_endeffector_laser(enable, on) -> bool

Set the laser state.

Parameters

Name	Type	Description
enable	bool	Power the laser driver.
on	bool	True turns the laser on. False turns it off.

Returns bool: True.

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EndEffectorType

class pydobotlab.EndEffectorType(IntEnum)

End-effector identifiers.

Member	Value
LASER	0
SUCTION_CUP	1
GRIPPER	2