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Erik_CornelsenErik_Cornelsen Posts: 9 Apprentice
Hi RQ community, 

Suppose that a program was running in UR3 and suddenly stops by a reason (Stop button pressed, E-stop, etc), while the RQ gripper 2F-85 was holding a part (object detected True).
When the program restarts,  the gripper opens during its activation and reset as part of the "Before start" functions.
Therefore the part that was being hold falls.
Is there a way to avoid this to happen?
In other words, if a program stops when Object detected is true, the gripper remains holding the part even after restart rq activation and  rq reset ?



  • David_GariepyDavid_Gariepy Posts: 164Beta Tester Beetle, Wrist Camera URCap 1.3.0 Handy
    You could simply remove the rq_reset() command. 
    Using the rq_activate() command only, the gripper will be activated only if it is not already activated.  Unless the power to the gripper is lost, the program will simply skip the command.

    If needed, there is also the command rq_is_gripper_activated() that let you check if the gripper is activated.

    David Gariépy
    Integration Coach
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