TM robot: Open/Close gripper in motion

bcastets

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:

1. Gripper settings and activation
2. Move the robot to point 2
3. Gripper open
4. Robot wait 3s
5. The variable which trigger the gripper close thread is witched to True
6. The robot is moved to point 3

Here below is the thread:

1. 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

Check gripper manual for details about registers.

Don t forget that you need to define the modbusRTU device in the left panel:





The program is attached to this post.