Robotiq Vacuum Gripper with a UR10e

[Seg31]

Hello,

The University where I work acquired a robotiq Vacuum gripper. We are trying to use it with a cobot UR10e but I couldnt find info on how to use it with the plugin. (We already installed the URcap and it is working using the teach pendant)

Can anyone give me a hint on how to do it, please?

Thanks in advance

[visose]

Hi, the plugin contains "command" components for common functions that are usually is included in a robot controller, but you can use the "Custom command" component to call any other URScript function.

I believe the robotiq gripper installs in the controller additional URScript functions to operate the gripper.

[LoyWeiWin]

Im pretty sure that the solution. You can find the commands on pp 61 on this manual. Hopefully it helps.

[Seg31]

Thank you for the information. First I had to create a custom command rq_activate_and_wait() and then on the plane where I wanted the gripper to be activated i needed the function rq_vacuum_grip() and rq_vacuum_release() which was on page 61 of the manual. Doing that the vacuum gripper worked

Thank you very much for the help.

[matramirezm]

I am also having trouble programming a Robotiq gripper, specifically the Hand-E model.

I generated a program using the teach pendant that included only three actions: activate, open, and close. That program worked perfectly when run directly on the robot.

I then opened the program in a text editor and copied only the portion of the code that seemed relevant, with the idea of using it as “custom code” within the Robots plugin. However, when I try to load the resulting program back into the robot, it no longer works.

Would you happen to have any thoughts on what might be causing this?

I have attached the content of the panels i am
Open.txt
Close.txt
Activate.txt
Installation Node.txt

using in my Grasshopper script for reference.

Kind regards,
Matías

[matramirezm]

To simplify things This files could be useful. they have the core of the problem. (GH script and .urp file in a text note)

Test_Gripper.txt

[Seg31]

Hi!!
I think you should check the manual of the gripper. I dont have a hand-e gripper in the place I work but imagine it is the same as the vacuum gripper.
In the manual of the hand-e gripper you can check "advanced gripper functions" and those are the ones you should put as a custom command in grasshopper.

If you upload the grasshopper file I can give it a try and modify it

[matramirezm]

Thanks!! I changed those commands, but not working either.

Here is the GH file:
https://drive.google.com/file/d/1FrAJsWd-lfFvJM1ZZFIXZcFavrYm-I6h/view?usp=sharing

Thanks!

[Seg31]

You should connect the "rq_activate_and_wait" in the init input of the "create program" node

Here is the file:
https://drive.google.com/drive/folders/1jiCbRjFk9_QawTZDrjj2jFyantld2fZW?usp=sharing

[matramirezm]

Working! I really appreciate it!
Thanks again! Gracias!