cannot use rq functions of 2F-85 on offline programming

CTLatte 2019-01-11

I need to control 2F-85 gripper attached to UR5 CB-series through script sent via Real-time client (port 30003).

However, If I put Robotiq's function such as rq_reset() or rq_activate_and_wait() in the script, with other UR functions, and send, the program will not be run at all on the robot side. Nothing was printed in 'Log' tab. If only I took that function out, it ran fine.

I tried using those rq_ functions on teaching pendant directly, everything works fine.

Not sure what am I missing here.

UR software version is 3.5.4.10845(Apr 13, 2018)
gripper URCaps version is 1.2.1

Thanks!

CTLatte 2019-01-12

Just re-post as a question here. My bad.

matthewd92 2019-01-12

You would need to send the function script definition as well, otherwise the controller does not know what you want it to do. Those are not UR functions and so are not available on a global basis. They are basically imported into your program either using the URCap, or in the older versions by literally installing them in the before start section using a script - file node.