ROBOTIQ 2-Finger 140, Instruction Manual

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Robotiq 2-Finger Adaptive Gripper Instruction Manual
Robotiq inc. © 2016 86
The functions listed below can be called using subprograms in Polyscope or with a script. Functions with the suffix _and_wait will wait for the Gripper to
complete its operation before going to the next step.
Name Description
rq_activate Sends the Gripper activation command. If it is already activated, nothing happens. Note that the Gripper must be
activated to complete any other operation. Program execution continues before the end of activation.
rq_activate_and_wait Sends the Gripper activation command. If it is already activated, nothing happens. Note that the Gripper must be
activated to complete any other operation. Program execution waits for the activation.
rq_auto_release_close_and_wait Slowly moves the Gripper to its maximum closed position. The Gripper must be activated after this command. Meant
for emergency procedures.
rq_auto_release_open_and_wait Slowly moves the Gripper to its maximum opened position. The Gripper must be activated after this command. Meant
for emergency procedures.
rq_close Moves the Gripper its fully closed position.
rq_close_and_wait Moves the Gripper to its fully closed position and waits until the motion is completed to execute the next command.
rq_current_pos Sets global variable rq_pos to the current Gripper position and returns this value.
rq_is_gripper_activated Sets global variable rq_gripper_act to 1 if the Gripper is activated and returns True. Otherwise sets the variable to 0
and returns False.
rq_is_motion_complete Sets global variable rq_mov_complete to 1 if the Gripper motion is complete and returns True. Otherwise sets the
variable to 0 and returns False.
rq_is_object_detected Sets global variable rq_obj_detect to 1 if the Gripper has detected an object and returns True. Otherwise, sets the
variable to 0 and returns False.
rq_move_and_wait Moves the Gripper to the position defined by the argument and waits until the motion is completed.
rq_move Moves the Gripper to the position defined by the argument.
rq_open Moves the Gripper to its fully opened position.
rq_open_and_wait Moves the Gripper to its fully opened position and waits until the motion is completed.
rq_print_driver_state Prints the driver's state to the UR log window.
rq_print_driver_version Prints the driver version to the UR log window.
rq_print_fault_code Prints the Gripper's fault code in the UR log window.
rq_print_firmware_version Prints the Gripper's firmware version to the UR log window.
rq_print_num_cycles Prints the Gripper's number of cycles in the UR log window.