# Gripper Test

<i>Before you start</i>

M5Stack series: Make sure the robot is connected to the computer (for details, please refer to **[5.1myBlockly](https://docs.elephantrobotics.com/docs/gitbook/5-ProgramingApplication-myblockly-uiflow-mind/5.1-myblockly/)**)

Others: Make sure the machine is normal

To use the gripper test function, myblockly needs to be updated to v1.5.5



### Learning content in this chapter

How to use myBlockly to quickly test whether the gripper is normal.

Currently, the gripper test function is only compatible with the following models: myCobot 280 series, mecharm 270 series, myPalletizer 260 series, myArm 300 Pi.

The grippers include adaptive grippers, electric grippers, and pneumatic grippers. Different grippers are compatible with different robot arm models. For details, please refer to **[2.7 Accessories](https://docs.elephantrobotics.com/docs/gitbook/2-serialproduct/2.7-accessories/2.7-accessories.html)**.

Here, mecharm 270 M5 and adaptive grippers are taken as examples.



**First install the gripper on the machine**

<img src="../../resourse/5-ProgramingApplication-myblockly-uiflow-mind/image/gripperTest/connect_gripper.jpg" style="zoom: 15%;" />



**myblockly connects to the machine serial port**

<img src="../../resourse/5-ProgramingApplication-myblockly-uiflow-mind/image/gripperTest/connect.png" style="zoom: 80%;" />



**Open Gripper Test**

<img src="../../resourse/5-ProgramingApplication-myblockly-uiflow-mind/image/gripperTest/open_girpper_test.png" style="zoom: 80%;" />





**Select the current gripper type as Adaptive gripper**

<img src="../../resourse/5-ProgramingApplication-myblockly-uiflow-mind/image/gripperTest/gripper_type.png" style="zoom: 80%;" />



Then you can try the following:

- Set the gripper state: Open, Closed, Released. Pay attention to the gripper movement.
- Click the Read Angles button to get the current gripper value.
- You can fine-tune the gripper value.
- You can set the gripper movement speed



> Tips:  When the gripper type is Dexterous Hand, the gripper value cannot be set, only its status can be set.