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SOFTWARE
UNIVERSAL ROBOTS MANUAL — MAR 9, 2023 — RELEASE: V1.0.3
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Additionally, you can specify if this Node has to add a wait during the grasp or not. You can choose one of
the two predefined options:
Wait for a given amount of time expressed in seconds;
Wait until the grasp is stable.
If none are satisfying for the given application, feel free to add a Wait Node after the qb SoftClaw one.
6.3.5 e-Series Toolbar
This toolbar lets you quickly check the qb SoftClaw state and teach new grasp values.
The two panels displayed are almost identical to the ones described in the Installation and Program
Nodes. In figure, for example, are shown the slider active
when
position
control mode is selected.
Figure 13. —
qb SoftClaw URCap e-Series Toolbar
6.3.6 Program Example
The following example shows the qb SoftClaw usage as grasping tool.
If both the options are selected, they are evaluated in sequence: first it waits for the specified
custom time and then checks whether the grasp is already stable or not.
