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I don't have the gripper, but here are my thoughts:- as any USB device, the gripper returns a seller model number and signature, so the software IDs it as the Gripper and not the IR sensors for example- if someone ties the usb connection back to the PC through the serial port and opens up a Telnet session can monitor all the communication between the PC and the gripper device and can record the protocol- after the recording is done, any programable USB chip can be used as an interface for a custom made gripper, using only one motor like the original gripper or a microcontroller and servos.To see what I'm talking about, take a look at your own RCM communication, the IR sensors and Gripper should work the same, just the ID is different. I think even a custom RCM could be made if the ID could be replicated.On the other hand, I know there is a guy that reprogrammed the GUI, perhaps he can reveal more info about what IDs the software espects. Or, maybe he can reprogram the software to work with custom grippers and IR sensors...
I saw some pics posted by Lupinoxp that the new RDM-d now would handle DC motors, however when I confirmed this with Kim Herzog they did not make the change.I just got an answer to your question. Yes, they are still stepper motors. Thank you, Kim HerzogEvolution Robotics[email protected]This would have been a great change for the ER1.Tymtravler