How to program with UR Script the Robotiq Hand-E gripper on the UR10e?

spencer

Hello,

I am programming the Robotiq Hand-E gripper on the UR10e.
In the "Befor Start" sequence, the "Script: greifen" is insert and in the "greifen(p1, p2, p3)" the "Script: greifen" is called.

Unfortunately, the gripper does no action.
Where is the mistake in my program?

Generally, I am a beginner in UR Script and programming in general.
What are the best resources to getting started with the UR Script programming (Robotiq DoF, UR Script Manual, GitHub)?

-----------------------------<Polyscope> ----------------------------------------------------------------------------------------------------------

-----------------------------<Script: greifen> ----------------------------------------------------------------------------------------------------------

def greifen(p1, p2, p3):

    movel(p1, a=1.2, v=0.25)

    

    rq_set_pos_spd_for(0, 255, 255, "1")

    rq_wait_pos_spe_for_request(0, 255, 255, "1")

    rq_go_to("1")

    rq_wait("1")

    # end: URCap Program Node

    movej(get_inverse_kin(p2, qnear=p2), a=1.3962634015954636, v=1.0471975511965976)

    # begin: URCap Program Node

    #   Source: Robotiq_Grippers, 1.8.7.10599, Robotiq Inc.

    #   Type: Greifer

    if not(gripper_connected[0]):

      popup("Greifer 1 muss verbunden sein, um dieses Programm auszuführen.", "Keine Verbindung", False, True, True)

    end

    if not(rq_is_gripper_activated("1")):

      popup("Greifer 1 ist nicht aktiviert. Wechseln Sie zur Registerkarte Installation > Greifer, um ihn zu aktivieren und das Programm erneut auszuführen.", "Nicht aktiviert", False, True, True)

    end

    rq_set_pos_spd_for(255, 255, 255, "1")

    rq_wait_pos_spe_for_request(255, 255, 255, "1")

    rq_go_to("1")

    rq_wait("1")

    # end: URCap Program Node

    movej(get_inverse_kin(p3, qnear=p3), a=1.3962634015954636, v=1.0471975511965976)

end

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