Emergency stop with UR3e and Hand-e

MIKELCINZA

Hello,

 I have a UR3e v3.6 robot with a HAND-e gripper attached to the robot's wrist.

When I press the TP emergency button, both the robot and the gripper disconnect.

Later I restart the robot and press the key to continue the program. But the gripper has not been reactivated. How can i do it?

Must I do it manually? Can I do it by program?

bcastets

There is a gripper activation node which you can use to activate the gripper in your program.
Generally this is on of the first thing you should have in your program.

During activation the gripper will completely open and close. You should have no object inside the gripper. The gripper have to go to its maximum and minimum possible position.

You have to manage the case of robot handling a part when the protective stop happen. As the gripper will open during activation, the part will be released.
Place the robot in a safe position to safely release the part during activation.