Be careful that you have to preserve some files like robot calibration files.
To be honest it is hard to say on my side what is happening, I have never seen that before.
Maybe someone in this community will be able to help you out but in the meantime I would suggest that you contact UR support team. They would probably be able to help you with that.
Hope this helps.
The following describes the procedure If you are looking to remotely control a Robotiq Gripper through port 30002 on universal robot.
Native UR command like moveL or servoJ can be sent directly to port 30002. All functions implemented by a URCap like the Robotiq Gripper function are unknown even if the URCap is installed. When a program is written on the teach pendant, all URCap function definitions are implemented in this program each time it is compiled and executed by the UR controller. This means if you try to send the command line rq_move_and_wait(58) function to the controller by the port 30002, it will never work because it's unknown to the controller. To achieve a gripper function, the definition of this function must also be sent.
In the compressed file included below, you’ll find a file named gripper.script. The file contains the definition of all the available Robotiq gripper functions. At the bottom of the file, you’ll see a list of all the functions ready to be used. If the file is sent as is to the controller, the connected gripper will open and close based on lines 2364 and 2366, assuming the gripper is already activated.
Simply insert an “#” sign in front of the function you want to be ignored and remove the “#” sign in front of the functions you want to be executed.
The file can then be sent to the controller and be executed. To do so, we’ll use python program which can be downloaded here. In the compressed file, you’ll also find a small python program called socket UR send file.py used to send the gripper.script file to the UR controller through port 30002. You’ll need to change the IP address of the robot in the socket UR send file.py to match your robot IP address.
Be sure to have both the socket UR send file.py and gripper.script file in the same folder and execute socket UR send file.py. The action(s) enabled in the gripper.script file will then be executed.
We have a customer who is doing the the same thing. They are using external machine vision to detect if tissue is ripped or not. I think they are also measuring if the ripped tissue is right lenght. Robot is equipped with normal cheap pneumatic gripper and gripper pads are some soft and high friction material.
I am thinking maybe you could use photoelectric sensor to detect the tissue. If you are using robotiq gripper, you could use accessory holes to attach the sensor onto gripper. Sensors are way more more cheaper than machine vision and all in all you are just detecting the object presense.
Just one note for you. Remember to design the machine layout the way the robot can do nice and smooth movements. This application is quite rough for robot joints if the robot rips hundreds of thousands tissues repeatedly.