Roles No Roles
I wanted to share with you how to configure Robotiq's 2-Finger Gripper on a UR so that it loses its power when the e-stop button is pressed. Here is how I do it:
- Instead of connecting the 2-Finger Gripper's red wire to a 24V pin, I connect it to a configurable output. In this example, I connected it to configurable output 0 (CO0).
- I connect the rest of the wires as described in the instruction manual.
- On the UR teach pendant, open a Robot program and go in the Installation tab. Click on Safety and enter the password, if required.
- From the Safety I/O tab, change the function assignment of the configurable output you connected the red wire to. Change it to System Emergency Stopped. In the example, I changed CO0 and CO1.
Performing this will cut power to the gripper when the robot's e-stop button is pressed. When it is restored, the gripper will get power back again. Remember that you will need to activate the gripper since it lost power.
If you would like to know more on how to integrate a gripper in a collaborative robot cell, make sure you check out this eBook.
@edavio you will be able to use the package. The only thing you need to make sure is that you identify the correct USB device. When you launch the ROS package, it will ask you what USB device to communicate with. Make sure you select the proper one. I you are not sure, you can look at the list of USB devices that are connected.
Feel free to post below if you have further questions.
Here is a video that shows you how to teach an object with the Wrist Camera. It has been done with the newest 1.1.1 version of the Wrist Camera URCap.
This section of the instruction manual provides more details on the object teaching wizard.
Feel free to post below if you have any questions or comments.