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Vacuum Beta tester Posts: 695 Expert
TM robot: Open/Close gripper in motion |
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You may want to open or close gripper while moving the robot. With the current gripper TM component you don t have the possibility to do it but I would like to share with you an alternative solution.
Using the modbusRTU communication system of TM it is possible to send gripper command in a thread.
Here below is the main program:

Here below is the thread:

The modbus RTU command is the following:

The variable sent is: var_sendCommand={0x09,0x00,0x00,0xFF,0xFF,0xFF}
Don t forget that you need to define the modbusRTU device in the left panel:


The program is attached to this post.
Using the modbusRTU communication system of TM it is possible to send gripper command in a thread.
Here below is the main program:
- Gripper settings and activation
- Move the robot to point 2
- Gripper open
- Robot wait 3s
- The variable which trigger the gripper close thread is witched to True
- The robot is moved to point 3

Here below is the thread:
- Check the statue of the variable which trigger the gripper close.
- If False wait 0.5s and loop.
- If true send a modbusRTU command to close the gripper

The modbus RTU command is the following:

The variable sent is: var_sendCommand={0x09,0x00,0x00,0xFF,0xFF,0xFF}
- var_sendCommand[0]: Action request
- var_sendCommand[0]: Reserved
- var_sendCommand[0]: Reserved
- var_sendCommand[0]: Position request
- var_sendCommand[0]: Speed
- var_sendCommand[0]: Force
Don t forget that you need to define the modbusRTU device in the left panel:


The program is attached to this post.