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How to control Robotiq product through port 30002 on universal robot.

Hello everyone,

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.

Enjoy!

Protect connection pin of wrist camera and gripper coupling

As you may have read in our manual and noticed with experience.
The connection pins of the wrist camera and gripper coupling is fragile.
It is important to take take of it especially when you transport it or store it.

There is some good practise to prevent damaging connection pins.

1/ Keep the coupling (or camera) connected with a gripper during transport and storage

2/ Place a cover on the coupling (or camera) to protect pins from exterior impact

Here is an example of 3D printed cover. The screws used for the cover are same as gripper screws.
The STL file of the cap is attached to this post.

Re: Popup or prompt line break

@fihcnc THANK YOU!! That is awesome. I don’t know why I never thought of it knowing the GUI is modified html but it never even entered my mind.

Doosan: How to install Robotiq gripper

I would like to share with you the following video showing how to install Robotiw gripper on Doosan Robot.
Doosan adjust its software to ease gripper installation and programming. It takes just few minutes to make this installation.

Before the first action, the gripper have to do it is activation process. This is done on the first gripper action (grasp or release) that you have in your program. It is good practise to insert a gripper action at the beginning of your program to manage gripper activation.

There are grippers functions which are not implemented in Doosan program nodes like object detection, finger position feedback,...
Those function can be use by reading and writing gripper modbus registers in one line of custom code. It is quite simple.

Write a register:
set_modbus_output("<enter register name>",<enter value>)

Read a register:
get_modbus_input("<enter register name>")

Details on gripper modbus registers are available in the manual which can be downloaded from our support page:
https://robotiq.com/support

Re: Thin object detection (such as a tissue, ie: Kleenex)

Thank you both for the replies! We were considering utilizing sensors, but I had not thought of mounting the sensor directly onto the gripper. So, that is something to consider!

And thanks for the link to New Scale, Matthew. Those grippers might be just what I need!

Re: Popup or prompt line break

For future readers:
Apperantly displayed text in UR can be formatted using HTML in general.

<h1>Your headline here</h1> (Results in a headline)
<b>Your bold text here</b> (Bold text)
<p>Your paragraph here</p> (Using multiple paragraphs in succession negates the need for <br>)
Text can also be styled using style="color: [color]; padding-top: 30px;" and such

Re: check if a prompt or blocking popup is shown?

You could do something like this:

request_boolean_from_primary_client(msg)
  popupShowing = False
  return answer
enddef getBooleanFromOperator(msg):
  popupShowing = True
  local answer =

You would then use it like this:

yesOrNo = getBooleanFromOperator("Do you want to continue operation") # The message would be what is displayed on the pendant

The available commands are

request_boolean_from_primary_client(msg)
request_integer_from_primary_client(msg)
request_float_from_primary_client(msg)
request_string_from_primary_client(msg)

Re: How to get an input from the user using a Pop-up massege

Hi @elnatan,

The Assignment function might just be able to help you with this.

See my below example code on an E-series robot (will also work on a CB3). To be able to show a prompt, select the Source at the upper right corner to Operator. You may then store this value to a variable and use it on the script command rq_move_and_wait_norm(<0-100 variable>). As you can also see, you can add an operator message so the operator knows what to input in the prompt.

Image: https://us.v-cdn.net/6027406/uploads/editor/g0/9vlfow12qema.png

Hope this helps you,

Re: How to get an input from the user using a Pop-up massege

Hello @elnatan
In addition to what Yannik is saying, with this function you will need to enter a number between 0 and 100 %.
100% is the fully closed position and 0% is the fully open position.
You could use a similar command in millimeters (rq_move_and_wait_mm(var_operator)). That way you will be able to enter a value in mm and the gripper will move accordingly.
Note that you will need to calibrate the gripper in the installation tab in order to get the right opening!

Regards.

Re: Popup or prompt line break

I tried :
"line1"<br>"line2"
It works.
I looks like popup handle html code.