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jkk912jkk912 Posts: 3 Apprentice
I have a CRX-10iA/L Cobot with a 2F gripper. I'm using an HMI for manual control of gripper. I need to have a "Gripper Open" and "Gripper Closed" lamp come on based on what state the gripper is in. I am using the HMI as well to set the speed, position, and force so my initial thought was to just grab the positional data form the gripper and do a comparison of that data to the set point and when they match it turns on the respective in position lamp. However, I cannot find where that data is stored or how to retrieve it. Any advice on where to find the position data on the Fanuc Pendant? Or any other suggestions on how to achieve this goal in a simpler matter? Thanks
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  • bcastetsbcastets Vacuum Beta tester Posts: 652 Expert
    First of all do you know that we have a plugin to use the 2F on crx ? You can download it from our support page.

    There no gripper information stored on the robot. All gripper information is stored in gripper modbus registers.
    If you are an advanced programmer, you may be able to send modbus request to the gripper to get finger position. You will find information about gripper modbus registers in gripper manual.
  • jkk912jkk912 Posts: 3 Apprentice
    I have the Gripper plug in installed. Is there a way to use it to turn on a bit that says it is in position? I just need a signal I can send to the plc that says it is opened or closed.

    I'm not sure if I fall into "advanced programmer" but I am very familiar with robotics and ladder logic, however I've never used modbus for anything. 
  • bcastetsbcastets Vacuum Beta tester Posts: 652 Expert
    There is a check box wait until complete. Therefore you are sure the gripper is open or closed after such a gripper command.


  • bcastetsbcastets Vacuum Beta tester Posts: 652 Expert
    You could save the gripper status in a variable that you update after each gripper command 
  • jkk912jkk912 Posts: 3 Apprentice
    bcastets said:
    There is a check box wait until complete. Therefore you are sure the gripper is open or closed after such a gripper command.


    I have that checked. The position data was needed just to set up an output to give a visual indication on the HMI of "gripper open" or "gripper closed" and not out of a concern that the robot would move before it was in the correct position.

    bcastets said:
    You could save the gripper status in a variable that you update after each gripper command 
    This is exactly what I ended up doing. 

    Thank you for the help and the prompt responses.
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