Problems with using rq commands

adaser

Hi, I've been trying to write my own simple program for controlling the gripper 2F-85 via URScripts, and although the gripper activates and I can check it's status, I can't seem to execute any movement commands, such as rq_close or rq_move_mm (that is the one I want to use). I've updated URCap to the latest version (1.5.1). Polyscope Version is 3.8.0.61336 and Gripper firmware is at GC3-1.6.1. I've learned that when I put those functions in BeforeStart part of the program it works, but if I move everything to from this part to Robot Program it stops responding.

David_Levasseur

@adaser, I opened a support ticket to help you with that. You will receive an email shortly. Please reply with the requested information.

Geon

Hello, I had same problem!

Can I get the solution @David_Levasseur provided?

I want to control gripper and get the currency using Robotiq 2f 140mm gripper.

Thanks.
 

David_Levasseur

@Geon, here is how @adaser solved his issue:

Turns out socket connection doesn't work, because there is another socket opened under name "1" inside gripper base code, and that causes problems, I changed mine to a different number and also deleted rq_reset() function at the beginning of the program and it works now. Maybe changing this socket name to a different one could prevent more problems like this.

And here is how our integration coach @louis_bergeron pointed him the right direction:

I've installed your program in one of our robots.  Unfortunately, I can't run it as is.  I have removed all the instructions related to your socket instruction and everything was working correctly.  All gripper instruction were executed as expected.  I have changed the "if gripper_pos[0]" by "if True" and the following rq_close_and_wait is executed correctly.  I would like to know if your gripper script function works correctly when used in a program without this socket connection.

Hope this helps