I have a Hand-e gripper mounted on a UR3. I have written a program which includes code for gripping parts and confirming that the correct part is gripped correctly. I use the Grip Check node with dimensional check to accomplish this. I have been working on the application for months with no issues, until, suddenly, the Grip Check is failing when I have a properly gripped part. I have tried re-activating the gripper, restarting the robot, and loosening the tolerances on the target grip position, all to no avail.

Any ideas?

Hello Ronciak,

Did you change something in your installation ? Did you update your polyscope or your urcap ?

I suggest you install the latest version of polyscope and urcap and recalibrate afterwards your Hand-E in the installation tab.

Let me know if this helps.

Best regards

Paul

Thanks for your response Paul. Nothing was changed in my installation, and I had not updated the Polyscope or URCap versions.

Since I wrote the original post, I re-calibrated the gripper, and this seemed to fix the issue. This still doesn't explain why the Grip Check failed when I gripped a part within the tolerance parameters of the Grip Check node, but at least I am up and running now. 

I will upgrade my software per your suggestion. It is probably a good idea to do so regardless of its relevance to the current topic.

Ronciak,

Do you know what version of the URCap you had when this happened ?
Did you change something in your system before this decalibration occured ? (install a new urcap, crash the robot software...).

Newer versions of the URCap bring overall improved stability, it’s important to install them if you can.

Best regards.

Paul

Hi Paul,

I cannot identify what I did to cause the change that resulted in the malfunction. I did not install, uninstall, or update anything. I had no issues with the robot. The only time the robot was out of my custody was when it was being moved. Colleagues of mine unplugged and relocated the robot without me present. I have no reason to think that any mishap occurred, but it's possible.

What do you recommend I update? On the support site, I see 4 items under the Software tab. Should I update all of them, or just the URCap?

Thanks for the help!

Ron

Hello Ron,


What you should update is "Gripper Software" = URCap and also the "Gripper Firmware Update" = software inside the gripper.

Procedures for update can be found in the document section in the user manual.

Let me know if you need further help.

Regards.

Paul

Hello Ron,

Did you manage to upgrade your camera ?

Best regards.

Paul

Hi Paul,

Do you mean gripper? I am not working with a camera on the robot.

I finally completed the software upgrade for the robot. That was quite a process. I am now going to install the up-to-date URCap for the gripper.

Regarding the gripper firmware update: I don't think I am able to do it. I have an e-Series coupling, and the "Hand-E Firmware Upgrade Procedure" PDF says that the firmware upgrade is not possible with this configuration. Is my understanding of that correct?

Regards,

Ron

Hello Ron,

You are right, I meant gripper :)

Updating over the coupling of the E-Series is also possible. If you install the latest URCap, you’ll probably be prompted a message that offers you to run the update of the gripper’s firmware.
What is not possible, is to update the gripper if it is mounted on the Robotiq Wrist Camera, you would need to mount it on the coupling so that the comms have their own cable (and thus full bandwidth).

Regards.

Paul