Firmware and motor upgrades¶

The follower gripper has two pieces of firmware: the gripper firmware (bundled with the SDK) and the motor firmware (provided by technical support). Normally you only need to keep the gripper firmware up to date; upgrade the motor firmware only when technical support asks you to. If both need upgrading, flash the gripper firmware first, then the motor firmware.

Check the version¶

Run the self-check; the [fw] line is the gripper firmware version.

Gripper firmware version	Notes
1.2.16	Bundled with SDK 0.4.3, recommended
1.2.11 – 1.2.15	Usable, upgrade recommended
1.2.5 – 1.2.10	Opens, but the SDK prompts you to upgrade: after an occasional overflow on the control serial port, the gripper stops receiving commands and the grip force drops. Upgrade required
Below 1.2.5	The SDK refuses to open it; upgrade first

To check the motor firmware version, see Motor firmware version below.

Upgrade the gripper firmware¶

Flashing the wrong firmware leaves a gripper that will not start

A follower gripper can only take the slave firmware and a leader gripper only the master firmware; a wrong flash can only be fixed by a factory repair. Before flashing, confirm that the last letter of the serial number is s.

# 1. Confirm the serial number ends in s
python -c "from xense.taccap import scan_grippers
for g in scan_grippers(): print(g.side, g.role, g.firmware_sn)"

# 2. Flash and confirm when prompted (with only one follower gripper connected)
python python/examples/ota_update.py slave

# 3. Power-cycle (see below)

# 4. Run the self-check to confirm the version
python python/examples/follower_status.py left

With several follower grippers connected, to flash just one of them, give the image file name plus the side or serial number: python python/examples/ota_update.py tc-gu-01-slave-1.2.16.bin left. Do not write slave left; that reports firmware file not found.
Flashing takes about 1 second, after which the gripper restarts automatically.
If the script finds that the firmware does not match the gripper's role it refuses to flash. Do not force it with --force.
An interrupted flash does not damage the gripper; the original firmware keeps running, and you can simply flash again.

You must power-cycle after flashing¶

Unplug the 24V power cable, wait about 2 seconds and plug it back in; you do not need to unplug the USB cable. The follower gripper's main board and motor are both powered from 24V, so unplugging only the USB cable does not restart it. Without a power-cycle the gripper appears to work normally but silently loses data.

Upgrade the motor firmware¶

Do this only when technical support asks you to. It requires gripper firmware 1.2.8 or later. The motor does not need to be removed.

Switch the motor into upgrade mode:

python -c "import xense.taccap as t
g = t.FollowerGripper(t.find_follower().mcu_device)
g.motor.switch_protocol(t.MotorProtocol.Private)"

Power-cycle (unplug and replug the 24V).
Flash the firmware file provided by technical support:
```
python python/examples/motor_ota_update.py el05-1.0.5.0.4.bin left --model EL05
```
Type yes when prompted to start flashing; when it prompts confirm the nameplate, just confirm that the motor's nameplate reads EL05.
Power-cycle. If the gripper opens and closes once by itself after power-on, the upgrade succeeded. With gripper firmware 1.2.14 or later, the script records the new motor firmware version in the gripper after flashing, so you can check it at any time afterwards.
If the script reports that the motor is still in upgrade mode, or the gripper does not open and close by itself after a power-cycle, run the command below to switch back, then power-cycle again; if you do not switch back, the follower gripper cannot be controlled:
```
python -c "import xense.taccap as t
g = t.FollowerGripper(t.find_follower().mcu_device)
g.motor.switch_protocol(t.MotorProtocol.Mit)"
```
If the script reports no reply, power-cycle and flash again.

Motor firmware version¶

The motor firmware must be 1.0.5.0.4 or later. Below that, the motor's velocity feedback is wrong and motion judders; contact technical support for the upgrade file.

Check the version (do not run this while control is running; the read may stop the motor):

python -c "import xense.taccap as t
g = t.FollowerGripper(t.find_follower().mcu_device)
print(g.motor.motor_version())"

Output of the form MotorVersion(1.0.5.0.4, flash: ...) gives the version; the word flash means it is the record stored in the gripper. This requires gripper firmware 1.2.14 or later. If it shows invalid, this gripper has no record yet; contact technical support.