ROBOTIQ CNC Machine Tending Kit, Instruction Manual

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4. Control
4.1. Overview
This section introduces nodes that have been developed to be used with the CNC Machine Tending Kit. For details on basic nodes
developed for the hardware included in the CNC Machine Tending Kit, refer to the applicable Instruction Manual of Hand-E, Force
Copilot or the Wrist Camera.
Advanced user can learn more on communicating with Hand-E and controlling it by referring to the device Instruction Manual,
section
Control. For typical use cases, refer to the current section.
Control using Universal Robots packages
Robotiq provides Universal Robots packages to be used with URCaps (this requires controller version CB3 or higher).
See section Control on page 32 for instructions on how to use the Gripper URCap; this method will provide you with a Gripper Toolbar
to test and a Gripper node to program via the URCaps tab.
4.2. Controlling your Hand-E grippers
4.2.1. Contents of the URCap
The URCap package contains many features to program and control the gripper:
l
The Gripper toolbar is automatically installed with the gripper URCap. It allows jogging and testing of the gripper. It is a great tool to
try grasps with the gripper while programming.
l
The Gripper node is used to add a gripper command. It can make the gripper move to a specific opening, grasp an object and
modify the speed and applied force.
Overview
Single Gripper
Fig. 4-1: Gripper Dashboard (steps highlighted)
Robotiq CN C M achine Tending Kit Instruction M anual
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