Integration 2 grippers a 1 UR robot

Enric

I would like to know how to integrate two grippers 2F85 and a one UR robot.

What about the software version package?

Thanks.

Etienne_Samson

@Enric there is no option for that yet, but the feature is in the requested features list for the future updates of the UR package. The new generation of package shown in the sneak peek this week will probably include this at some point.

Etienne_Samson

@Enric we have a beta driver that you could try out.

This is a modified version of the actual Gripper driver package for UR, it will allow you to change your Gripper slave ID so that you can control them individually or simultaneously. The package also got some examples on how to do it.

Beta is tested with on a UR with CB3 and Polyscope 3.2.21545

How to install this:

1. Install the beta driver DCU-1.1.1
2. Wire the Gripper cable to a M12 split (ACC-SPLIT-M12-2:1), use a single RS-485 --> USB converter
   
3. From the UR teach, you will have the usual "Gripper" button, but it will contain an option to change Gripper slave ID
1. You will need to have different slave ID for each Gripper. You need to connect your Gripper 1 by 1 to change the slave 
2. default ID is 9, so have your second Gripper be assigned to something else then 9
1. example:
1. gripper1 --> slave ID 9
   
   
2. gripper2 --> slave ID 1
2. Power cycle the Gripper to put changes in effect 
4. After slave ID is changed, you can control each of the Gripper individually with the GUI:
    

You have provided examples in the package, open demo_pick_and_place_2_grippers for example:

• You will use normal functions that we provided but they will be assigned to gripper1 and gripper2 according to your previous choice.

• rq_init_connection will be used according to your slave ID and chosen name with : rq_init_connection (slave ID, name)
• When calling the provided function, you will assign them to a gripper, for example: rq_close_and_wait(gripper_1)

Enric

Excellent!

Etienne_Samson

Hi @Enric,

While the R&D is still working on solving this, you should be able to recover your slave ID using the "Recover Device" button of the Robotiq User Interface. This will reset the communication to default with slave ID 9. To use it, plug power and USB, click the "Recover Device" button, the pop-up will tell you to power-cycle. When you do so, leave the USB plugged in and unplug power, wait a second, and plug back in.

Enric

Etienne_Samson said:

Hi @Enric,

While we are working to fix the bug, you can change the slave ID using the Robotiq User Interface instead of using the GUI like you did previously.

Hi

Do you have news to fix the bug?

Etienne_Samson

@Enric we will post something on how to do this with the Gripper URCaps soon!

Etienne_Samson

@Enric using the Robotiq User Interface you can reset the slave ID using the "recover device", when you do so you leave the USB plugged in but you power-cycle the device. Then you are going to be connected with default settings. You still need to set the parameters you want and then save them.

Enric

Etienne_Samson said:

@Enric using the Robotiq User Interface you can reset the slave ID using the "recover device", when you do so you leave the USB plugged in but you power-cycle the device. Then you are going to be connected with default settings. You still need to set the parameters you want and then save them.

Thank you. Problem solved!

Enric

Etienne_Samson said:

@Enric nice setup, would you share with me what is the cable management system ?

p.s. we are still working on the multi-Gripper

@Etienne_Samson.
This case is Igus TRL.
http://www.igus.es/wpck/1783/overview_TriflexR#Section_7

Etienne_Samson

@Fabio_Facchinetti @Enric I will add you in a beta test for the new release, expect an invitation in the next month.

Etienne_Samson

@Enric go check the beta post for the 1.1, I have tagged you and it's now available in a private group!

tylermartin

We are currently working with our UR-10 with 2 grippers and things are coming along very nicely. The Software is clean and works to run the grippers at different times or together.

Enric

@Etienne_Samson

We have a problem with the DCU-1.1.1 and V3.2.21545

When we disconnect the robot and we started again the GUI does not appear. We must reinstall the driver.

You can look at this problem.

Thanks!

Etienne_Samson

@Enric

Sorry hear that, I will need to know if you have other drivers installed, like the FT Sensor drivers.

Thanks!

Enric

Etienne_Samson said:

@Enric

Sorry hear that, I will need to know if you have other drivers installed, like the FT Sensor drivers.

Thanks!

Enric

@Etienne_Samson

No. Only one driver. This problem exist in 4 diferent robots.

Enric

Hi @Etienne_Samson
Is posible change the SlaveID with

Etienne_Samson

Hi @Enric,

While we are working to fix the bug, you can change the slave ID using the Robotiq User Interface instead of using the GUI like you did previously.

Enric

Hi , @Etienne_Samson

I can change the slave ID with GUI and RUI if the Slave ID is 9, but if the Slave ID is different 9 (Exemple 1) don't connect the gripper using RUI. (Only GUI). Buton "Recovery" of RUI doesn't do anything.

Any suggestions?

Thanks

Enric

@Etienne_Samson
I think it's interesting to work with URCaps to integrate more than 1 gripper on the robot. This picture is a sample of a customer in Spain.

Etienne_Samson

@Enric nice setup, would you share with me what is the cable management system ?

p.s. we are still working on the multi-Gripper

TheRobotReport

A new startup in Odense, Denmark has a dual gripper mounting bracket for their RG2 industrial robot gripper specially fitted for Universal Robots. Check out On Robot, http://onrobot.dk/Product.html. They are shipping product.

Etienne_Samson

@Enric I have some news for you, we will be releasing an update of the URCaps Gripper package with compatibility for 2-3-4 Grippers in the next semester, between October and December.

TheRobotReport

Send me the press release when you release the update. Thanks.

Samuel_Bouchard

Frank @TheRobotReport did you invest in OnRobot or what?

TheRobotReport

I visited them on my recent trip to Denmark. Very sharp new company. It's hard for foreigners to invest in Danish startups. They are incubated by universities and government funds to keep the jobs in Denmark. This one is also supported by UR folks as well. I think the company is properly funded without me. 

matthewd92

Etienne_Samson said:

@Enric nice setup, would you share with me what is the cable management system ?

p.s. we are still working on the multi-Gripper

Etienne, that looks like the IGUS system, we looked at that when we were at Automatica in June

Fabio_Facchinetti

Hello. I have a request for mounting 2 gripper 2f140 + 1FT300. Is it possible or maybe there will be software problems?

Etienne_Samson

@Fabio_Facchinetti you can use the beta version for the dual Gripper, it works fine in production but the jogging interface have some bugs. We are still working on the release of the new URCaps compatible version for multi-gripper. I will keep you in the loop when we come up with an update.

Fabio_Facchinetti

@Etienne_Samson thanks! what about if I add in this kit a FT300?

Etienne_Samson

@Fabio_Facchinetti the FT-300 is independent from the Gripper, you can mount as many as you want on it. You can mount anything on it in fact, just respect the load settings! You can find them here: http://support.robotiq.com/display/FTS2/5.2+Mechanical+specifications

Fabio_Facchinetti

@Etienne_Samson ok was only a software doubt, thanks