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Guillaume_Charron

Guillaume_Charron

Re: How to update 2F-140 firmware ?

@LennyB Updating the Force Copilot URCap to version 1.9.2 and PolyScope to version 5.3.1 should solve your issue. If you are not having any problem with your Gripper, it's not necessary to update its firmware. However, if you are still willing to do so, you can update it directly on the robot in the "About" section of the Gripper installation tab. Just so you know, it will only work if plugged into the controller using a 10m cable and RS485-USB converter. It won't work if the Gripper is communicating through a Robotiq Wrist Camera or through the e-Series tool connector.

Nicholas_Francoeur

Nicholas_Francoeur

Re: RG2 gripper detected during palletizing

@tom24, I'm not exactly sure what is available with the RG2 gripper, but the Robotiq gripper as an object detected function that can be used in such case. If your gripper has the same kind of functionality you can use the same logic. I'm using a loop in which my pallet wizard is located, looping until I have a part that is detected by my gripper. If not, I'm moving to the next position. Find program attached. Program BeforeStart picked≔ False Gripper Open (1) Robot Program MoveJ home picked≔ False Call pallet_sub pallet_sub Loop picked≟ False Gripper Open (1) Pallet Pattern: Square Corner1_1 Corner2_1 Corner3_1 Corner4_1 PalletSequence Approach_1 PatternPoint_1 Gripper Close (1) Grip Check If object detected picked≔ True Wait: 1.0 Exit_1

takahiro

Re: Scan time at wrist camera URCap 1.7.1 becomes longer than one at URCap 1.6.6

Hi Nicholas_Francoeur, I'm glad to know the reason. Thank you so much for your support

Nicholas_Francoeur

Nicholas_Francoeur

Re: Scan time at wrist camera URCap 1.7.1 becomes longer than one at URCap 1.6.6

Hello @takahiro, some slight modifications were done to improve the image quality and have a more robust communication in 1.7.1, thus the increased scanning time you are experiencing. We have resolved that increase in the next URCap release 1.8 while keeping the modifications we made. This URCap version will be released shortly.

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