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seradaserada Unconfirmed Posts: 1 Recruit
I've been having some trouble with running a setup as follows: a Robotiq Hand-E gripper connected to the tool I/O and OnRobot Force/Torque Sensor connected via Compute Box to the UR5-e robot.
The problem is coming from URCaps used by both software - Robotiq works as a standalone just fine, but then I install the latest URCap from OnRobot they seem to be in conflict - the robot can't find the gripper at all, sometimes it shows that the gripper is present, but the buttons don't work at all.
When scanning for gripper these messages appear in logs.

Program OnRobot_AutoTCP started
Onrobot Devices: HEX + QC Tool Side + [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
Program OnRobot_AutoTCP stopped


  • MarcAntoine_GauthierMarcAntoine_Gauthier Vacuum Beta tester Posts: 55 Crew
    Hello @serada

    I don't have the specifics on why this is not working but we were aware that there are some incompatibilities between the Robotiq and OnRobot URCaps.
    I don't know your application but were you aware that the UR e-Series has an embedded Force Torque sensor already? I am pretty sure the Force Torque sensor embedded in the UR5e could do the same job. 

    Note also that Robotiq has a product called Force Copilot which is basically a licence that unlock the Robotiq URCap with a lot of Force and Torque function. I don't know how to solve the incompatibilities between the Robotiq gripper and the OnRobot sensor but I know the Force Copilot is compatible with both the Hand-E and the embedded Force Torque sensor in the e-Series.

    Do you mind explaining what is your application, what you are trying to achieve with the robot? I want to make sure that I understand correctly before I confirm that the embedded Force Torque sensor could work.


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