rostopic

Button

1. Plus(+) button

   $ rostopic echo -c /cobotta/plus_button
   

2. Minus(-) button

   $ rostopic echo -c /cobotta/minus_button
   

3. Function button

   $ rostopic echo -c /cobotta/function_button
   

MiniIO

data:	Hex	Description
0	0x0000	all bits are OFF
1	0x0001	bit0 is ON
32768	0x8000	bit15 is ON
65535	0xffff	all bits are ON

1. Get the Mini IO data

   $ rostopic echo -c /cobotta/miniIO_input
   

2. Set the Mini IO data

   $ rostopic pub /cobotta/miniIO_output std_msgs/UInt16 "data: 0"
   

Tip

For more information about I/O allocation, please refer to COBOTTA user manual ID:7261.

Robot state

$ rostopic echo -c /cobotta/robot_state

Safety MCU state

$ rostopic echo -c /cobotta/safe_state

Parallel gripper

target_position[m]	speed[%]	effort[n]
0.0 - 0.015	1.0 - 100.0	6.0 - 20.0

Attention

target_position is changed on 1.2.2. Before 1.2.1, target_position range is 0.0 - 0.03.

1. Parallel gripper open

   $ rostopic pub /cobotta/gripper_move/goal \
       denso_cobotta_gripper/GripperMoveActionGoal \
         "{header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: ''}, \
           goal_id: { stamp: { secs: 0, nsecs: 0}}, \
           goal: {target_position: 0.015, speed: 10.0, effort: 10.0}}"
   

2. Parallel gripper close

   $ rostopic pub /cobotta/gripper_move/goal \
       denso_cobotta_gripper/GripperMoveActionGoal \
         "{header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: ''}, \
           goal_id: { stamp: { secs: 0, nsecs: 0}}, \
           goal: {target_position: 0.0, speed: 5.0, effort: 10.0}}"
   

Vacuum gripper

Description	direction:	power_percentage[%]
Suction	-1	40 - 100
Stop	0
Blow	1

1. Suction

   $ rostopic pub /cobotta/vacuum_move/goal \
       denso_cobotta_gripper/VacuumMoveActionGoal \
         "{header:  {seq: 0, stamp: {secs: 0, nsecs: 0},  frame_id: ''}, \
            goal_id: { stamp: { secs: 0, nsecs: 0}}, \
            goal: {direction: 1, power_percentage: 40.0}}"
   

2. Stop

   $ rostopic pub /cobotta/vacuum_move/goal \
       denso_cobotta_gripper/VacuumMoveActionGoal \
         "{header:  {seq: 0, stamp: {secs: 0, nsecs: 0},  frame_id: ''}, \
            goal_id: { stamp: { secs: 0, nsecs: 0}}, \
            goal: {direction: 0, power_percentage: 40.0}}"