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How to use Robotiq gripper in combinaison with a tool changer |
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In some application you may want to have to possibility to change from one gripper to another. This can be done using a tool changer.
The following illustration shows the hardware stack of such setup.

Here below is the program structure use for tool changing. It involve the use of rq_cycle_tool_voltage_until_connection command which is attached to this article.

https://www.youtube.com/watch?v=Qu_vebo-EqA
The following illustration shows the hardware stack of such setup.

Here below is the program structure use for tool changing. It involve the use of rq_cycle_tool_voltage_until_connection command which is attached to this article.

- Before changing the tool, the wrist 24V power is cut using the set_tool_voltage script command.
- Then the tool change happen
- After the tool change is done, the command rq_cycle_tool_voltage_until_connection is executed. This script command establish the gripper connection.
- Finally the gripper is activated

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