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EnricEnric Founding Pro, Partner, Beta Tester Multi Gripper, Vacuum Beta tester Posts: 113 Handy
edited September 2016 in Integration
I would like to know how to integrate two grippers 2F85 and a one UR robot.

What about the software version package?

Enric Vila Avila
Vicosystems S.L.L.
Industrial Collaborative Systems

[email protected]

Best Answers

  • Etienne_SamsonEtienne_Samson Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 419 Handy
    Answer ✓
    @Enric we have a beta driver that you could try out. :wink:

    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)
    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]


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