Robotiq 2-Finger Adaptive Gripper
Instruction Manual
Robotiq inc. © 2016
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Error messages overview
If a program is running without the Gripper being activated, the program will stop at the execution of a Gripper node and the following message will be
displayed in a popup. Tap Stop Program and activate the gripper with the toolbar to continue or add an activation command in the program (see Advanced
Gripper Functions).
Gripper Program Template
With the URCaps package installation, a program template will automatically be installed in the program folder of Polyscope. It contains comments and pop
up windows that explain Gripper nodes functions and advanced functions.
Load and open the gripper_tutorial.urp program located in the root program folder. Make sure the Gripper is well connected to the UR controller. Run the
program. You will see pop up windows with comments on the Gripper nodes and advanced functions.
Advanced Gripper Functions
The use of Gripper URCaps nodes allows to move the Gripper and modify its speed and force. However, some advanced functions are only available
through UR Script commands:
rq_activate_and_wait(): This function activates the Gripper and waits for the completion of the procedure before going to the next command. If the
Gripper is already activated, nothing happens and the program continues.
rq_auto_release_open_and_wait(): This function can be used to completely open the Gripper at low speed even when it is not activated. This is
useful in the case of a safe recovery after an emergency stop.
rq_auto_release_close_and_wait(): Same as rq_auto_release_open_and_wait() but for closing the Gripper (useful in case of internal grip).
rq_is_object_detected(): Returns True if the Gripper motion has stopped due to an object. Returns False if Gripper motion was not impeded by an
object. Useful for verifying that an object has been picked correctly before going to the next step. Note: this function is not reliable for very small
objects. Refer to the user manual for more details.
rq_current_pos_norm(): Returns the current position of the fingers, normalized from 0% to 100%. Can be used to verify that the pick is successful,
by comparing the finger position when the pick was taught with the similar-sized object.
rq_is_motion_complete(): Returns True if the motion of the Gripper is complete and False otherwise. Can be useful to synchronize a program after
a Gripper node is run without the option “Complete Gripper motion before next action”.
Warning
If the Gripper is powered and initialized, it will move as soon as a change to the parameter is made (position, speed, force).
Info
For detailed force and speed control, see
Hint
Change speed and force when grasping fragile objects or other specific parts. In all other cases, it is recommended to use maximum speed and
force.
Use the gripper_tutorial.urp to know how to program the Gripper using nodes and advanced functions. You can copy the tutorial and start a new
program based on it.
The Gripper needs to be activated before it can receive a command. To do so, use the rq_activate_and_wait() function script at the beginning of
the program or activate with the Gripper toolbar.
