# OnRobot 2FG7 gripper parameters
gripper:
# Modbus RTU communication
slave_id: 65 # 0x41
serial_port: /tmp/ttyUR
baud_rate: 1000000
parity: "E" # Even parity
# Grip ranges (from datasheet, external grip with fingers inwards)
min_external_width_mm: 1.0
max_external_width_mm: 73.0
total_stroke_mm: 38.0
# Force
min_force_n: 20
max_force_n: 140
# Speed
min_speed_pct: 10
max_speed_pct: 100
max_speed_mm_s: 450
# Weight
gripper_mass_kg: 0.78