Robotiq 2-Finger Adaptive Gripper
Instruction Manual
Robotiq inc. © 2016
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4.9.3 Custom Programs
You can create your own program that commands the Gripper with the provided templates :
Open
in the list of provided templates;
basic_template.script
Push
to test the Gripper. The program will activate the Gripper and then do a loop of closing and opening the Gripper;
play
Add your instructions under the robot program section. Program instructions can be added with Polyscope.
As shown in Figure 4.3.3.1, the basic_template program will execute these instructions in a sequence:
Assign initial values to the global variables with the
section.
Init Variables
Initiate communication with the Gripper with the
section.
Before Start
The
section contains the commands sent to the Gripper:
Robot Program
Activate the Gripper with
.
SubP_rq_activate_and_wait
Close the Gripper with
.
rq_close_and_wait
Open the Gripper with
.
rq_open_and_wait
Figure 4.3.3.1: Basic template as shown in UR Polyscope.
When using the advanced_template, you have access to all of the subprograms listed in Section 3.7.4. Unused subprograms can be removed from the list.
You must use global variables to pass information, not arguments.
When programming an object pick up, use the rq_is_object_detected
and
subprogram
rq_object_detect variable to know if an object has
been picked. The subprogram sets the rq_object_detect variable to 1 if an object is detected, 0 otherwise.
Subprograms with the _and_wait will wait for the instruction to be completed before going to the next step. For example, rq_close_and_wait will
wait for the motion to be completed before continuing to the next step, while rq_close will initiate motion and go to the next programmed step.
