What is the command to open/close the Robotiq 2F gripper from a python server script?

pgb123

Probably a simple/dumb question, been looking all over the web and can't seem to find

pgb123

Actually we've got all the commands, but using the latest driver from the Robotiq support page, the gripper interface loads up on the PC, but says it can’t connect, have tried all combinations of the IP address and ports such as 192.168.1.10 (this IP is working fine from python to connect to the robot), 127.0.0.1 and with and without port 63352 to no avail, says can’t find gripper.

The robot itself is working fine from python and the gripper works fine from the teach pendant.

I suspect the gripper is not the current model, but how can we get the version number so we know which of these to use? https://robotiq.com/support/archive 

Have gone into Polyscope>Installation>Gripper>About and it doesn’t say but it does say at the bottom Robotiq copyright 2016 

Has anyone tried this on a UR3 (as it says it's only been tested on UR5 and UR10) https://github.com/SintefRaufossManufacturing/python-urx

Hopefully some kind sole here can lend us a hand?

sennrobo

Looking forward to any info on this as well. Trying to write a simple initialization script through the RoboDK Python API. 

PierreOlivier_Proulx

To see if you can communicate with the gripper through socket from another PC try those commands (you might have to install netcat i.e. nc):

> nc <robot-ip-address> 63352
> GET ACT
> <should return ACT 0|1>

If you can move the gripper from the teach pendant, those commands should work. If not, it is likely a  network issue as the port 63352 is exposed to other devices

Emiliano

We had the same issue recently. We had to upload a script provided by Robotiq. I've attached the file in a zip the Robotiq supplied us with. This is the method that we used to do this to point you in the right direction. There's also sample Python scripts in the zip file that could help as well.

For a little more information the way this works is that the Teach Pendant loads it's own drivers which the standard Robotiq install covers. This is why the gripper works in teach mode. Unfortunately it seems like this driver is not installed globally so the Python script doesn't have a driver to work with. This script uploads it. We did it on initialization of the class.

   def _initialize_gripper_with_script(self):<br>        """<br>        Sends the script to run the Robotiq 140mm gripper to the UR robot. This is needed to run the gripper via<br>        sockets. This is best run at the initialization of any script that may use the Robotiq gripper.<br>        :return: None<br>        """<br>        s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)<br>        s.connect((self.host, 30002))<br><br>        f = open(os.path.dirname(os.path.realpath(__file__)) + "/from_robotiq/Gripper.script", "rb")  # Robotiq Gripper<br>        # f = open ("setzero.script", "rb")  #Robotiq FT sensor<br><br>        l = f.read(1024)<br>        while l:<br>            s.send(l)<br>            l = f.read(1024)<br>        s.close()<br>        f.close()<br>        sleep(1) # make sure gripper has time to initialize.

albertgo

After uploading the script, how do you communicate with the gripper and send commands?