Lingxi Standard Edition Python SDK

1. Introduction

The Gloria-D Standard Edition SDK is a Python development toolkit for controlling the Lingxi Gloria-D Standard Edition parallel two-finger gripper. The Standard Edition uses position control mode, controlling the gripper's motion by directly setting the target opening width and motion speed. It features fast response and simple control, and is suitable for scenarios that require high speed and do not need precise torque control.

1.1 Key Features

Core Capabilities

• Position Control: Supports opening-width setting with millimeter-level precision
• High-Speed Motion: Speed range of 0 to 3000 (3000 corresponds to the maximum servo speed of 110 rpm), meeting the needs of high-cycle-time scenarios
• Multi-Model Compatibility: Supports 50 mm / 100 mm gripper models
• Status Reading: Acquires sensor data such as position, speed, load, voltage, and temperature in real time
• Simple Interface: Core control requires only a single function call for quick onboarding

2. Environment Setup

2.1 Dependency Installation

• Python 3.10 or later
• pyserial

pip install pyserial

2.2 Hardware Connection

1. Connect the gripper to the computer via a serial adapter board (USB-TTL / RS485)
2. Confirm the serial port number:
   • Windows: Check in Device Manager, e.g. COM5
   • Linux: /dev/ttyUSB0
   • macOS: /dev/tty.usbserial-xxx
3. Ensure the gripper is properly powered

3. Quick Start

from Gloria_D import BusServo

# Create connection (default baud rate 1000000)
servo = BusServo(port='COM5', baudrate=1000000, verbose=True)

try:
    # Check servo connection
    err = servo.ping(1)
    if err == 0:
        print("Gripper connected successfully")
    else:
        print(f"Connection error, error code: {err}")

    # Control the gripper to open to 50mm, speed 2000
    servo.set_gripper_position(
        servo_id=1,
        gripper_type="100mm",
        position_mm=50,
        torque=0,
        speed=2000
    )
finally:
    servo.close()

tip

The torque parameter is ineffective for the Standard Edition (non-force-control version); it is recommended to always set it to 0.

4. Parameter Description

4.1 Core Control Parameters

Parameter	Range	Description
position_mm	0 to gripper max stroke	Target opening width (millimeters)
torque	0	The Standard Edition has no torque control; fixed at 0
speed	0 to 3000	Motion speed; the larger the value, the faster (3000 corresponds to the maximum servo speed of 110 rpm)

4.2 Supported Gripper Models

Model	Opening Range	Use Case
"50mm"	0 to 50 mm	Grasping small objects
"100mm"	0 to 100 mm	Grasping medium-sized objects

5. Typical Use Cases

5.1 Fast Grasping

The Standard Edition responds quickly with crisp motions, suitable for scenarios with strict cycle-time requirements.

import time
from Gloria_D import BusServo

servo = BusServo(port='COM5', baudrate=1000000)

try:
    # Quickly open to maximum
    servo.set_gripper_position(1, "100mm", 100, torque=0, speed=3000)
    time.sleep(0.8)

    # Quickly close
    servo.set_gripper_position(1, "100mm", 0, torque=0, speed=3000)
finally:
    servo.close()

5.2 Precise Positioning Grasp

Low-speed motion provides more precise positioning results.

import time
from Gloria_D import BusServo

servo = BusServo(port='COM5', baudrate=1000000)

try:
    # Open the gripper
    servo.set_gripper_position(1, "100mm", 80, torque=0, speed=2000)
    time.sleep(1)

    # Slowly close to the target position
    servo.set_gripper_position(1, "100mm", 25, torque=0, speed=500)
finally:
    servo.close()

5.3 Multi-Level Opening Switching

Switch between different gripping widths across different workstations.

import time
from Gloria_D import BusServo

servo = BusServo(port='COM5', baudrate=1000000)

try:
    positions = [80, 50, 30, 10, 50, 100]  # Sequence in millimeters

    for pos in positions:
        print(f"Moving to {pos}mm")
        servo.set_gripper_position(1, "100mm", pos, torque=0, speed=2000)
        time.sleep(1)

        # Read the actual position
        sensor = servo.read_sensor_data(1)
        if sensor:
            print(f"  Actual position value: {sensor['position']}")
finally:
    servo.close()

5.4 Sensor Status Reading

The Standard Edition also supports sensor data reading, which can be used to monitor operating status.

import time
from Gloria_D import BusServo

servo = BusServo(port='COM5', baudrate=1000000)

try:
    # Move to the specified position
    servo.set_gripper_position(1, "100mm", 50, torque=0, speed=2000)
    time.sleep(1)

    # Read sensor data
    sensor = servo.read_sensor_data(1)
    if sensor:
        print(f"Current position: {sensor['position']}")
        print(f"Current speed: {sensor['speed']}")
        print(f"Current load: {sensor['load']}")
        print(f"Voltage: {sensor['voltage'] * 0.1:.1f}V")
        print(f"Temperature: {sensor['temperature']}℃")
finally:
    servo.close()

5.5 Cyclic Grip-and-Release Test

import time
from Gloria_D import BusServo

servo = BusServo(port='COM5', baudrate=1000000)

try:
    for i in range(10):
        print(f"\n--- Iteration {i+1} ---")
        # Open
        servo.set_gripper_position(1, "100mm", 80, torque=0, speed=2500)
        time.sleep(0.8)

        # Close
        servo.set_gripper_position(1, "100mm", 5, torque=0, speed=2500)
        time.sleep(0.8)

        # Read status
        sensor = servo.read_sensor_data(1)
        if sensor:
            print(f"Position: {sensor['position']}, Temperature: {sensor['temperature']}℃")
finally:
    servo.close()

6. API Reference

Method	Description
BusServo(port, baudrate, verbose)	Create a serial connection instance
ping(servo_id)	Check the servo connection status
set_gripper_position(id, type, mm, torque, speed)	Control the gripper opening (core interface, set torque to 0)
move_servo(id, position, torque, speed)	Directly control the raw servo position
read_sensor_data(servo_id)	Read comprehensive sensor data
get_position(servo_id)	Read the current position value
set_servo_id(old_id, new_id)	Modify the servo ID
set_baudrate(servo_id, baudrate)	Set the communication baud rate
set_servo_torque_enable(servo_id, enable)	Torque enable switch
close()	Close the serial connection

7. Standard Edition vs. Force Control Edition

Feature	Standard Edition	Force Control Edition
Speed Range	0 to 3000 (max 110 rpm)	0 to 150 (max 110 rpm)
Torque Control	Not supported (torque=0)	Supported (0 to 1000, max 35 kg·cm)
Load Feedback	Basic feedback	Precise torque feedback
Typical Scenarios	High-speed pick-and-place, production line cycle time	Fragile items, flexible objects
Control Complexity	Simple	Higher

8. Notes

Usage Tips

1. Speed Range: The Standard Edition speed range is 0 to 3000 (3000 corresponds to the maximum servo speed of 110 rpm); never confuse it with the Force Control Edition
2. Torque Parameter: The Standard Edition torque is ineffective; it is recommended to always set it to 0
3. Gripping Protection: The Standard Edition has no torque feedback; be careful to avoid over-squeezing the target object when closing
4. Communication Interval: It is recommended to add a delay of at least time.sleep(0.05) between consecutive commands
5. Power-Off Protection: Always call servo.close() to close the connection after operations are complete