fastgripper-dm
Driver, calibration and CLI for the FastGripper worm-gear parallel gripper when its actuator is a Damiao DM-J4310 on a dedicated CAN channel (standalone mode). Linux + SocketCAN is the shipped path; macOS + gs_usb is supported for bench use.
pip install fastgripper-dm
# one-time: give the motor its identity (motor ALONE on the bus) and its watchdog
fastgripper-dm id --interface socketcan --channel can0 --new_id 0x07
fastgripper-dm setup --interface socketcan --channel can0 --motor_id 0x07 --master_id 0x17
# every session
fastgripper-dm preflight # no motion: bus, motor, fault, watchdog, calibration
fastgripper-dm calibrate # keyboard jog, mark open/closed (once per unit)
fastgripper-dm autocal home # re-anchor against the closed stop (~20 s)
fastgripper-dm drive 40 # 40 % and exit
Docs: docs/fastgripper-dm/ at the repo root (quickstart-linux, quickstart-mac,
troubleshooting). Driving the gripper on an i2rt YAM arm instead of a
dedicated CAN channel? See docs/fastgripper-dm/yam.md.
Safety: the setup step writes a comm-loss watchdog into the motor so a
crashed host cannot leave the worm pushing into a stop. preflight refuses to
pass with the watchdog disabled.
1 maintainer
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