bcastets
There are not build in function to do this.
Not sure if it could work but you could have an external PC monitoring the state of the robot and send a gripper open command when the program is stopped.
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Hello,
Is there a way to open a Hand-E gripper when a UR goes into protective or emergency stop?
I have tried using a thread in the program that waits for an unscheduled stop and then uses rq_open_and_wait(), but it doesn't seem to work.
/Tor