MOVE GRIP (0xB7)

Code: 0xB7
Description: A ''gripping'' movement is done.
Parameter (master -> slave):

• Current in configured unit system (must be speciffied).
• Max. Velocity (optional) in configured unit system. This value can not be exceeded while moving. See SET TARGET VEL.

Response (slave -> master): ,,OK'' (0x4F4B) if successful. Module executes command.
Example:

	D-Len	Cmd	Param
M->S	0x05	0xB7	0x00 0x00 0x60 0x40	Execute gripping with 3.5 [A]
S->M	0x03	0xB7	0x4F 0x4B

Note: Current is increased until movement or given current is reached. Impulse message (,,CMD MOVE BLOCKED''can be sent.

Smooth gripping can be done by this command. Other possibilities for smooth gripping are velocity movement or positioning movement with current control.