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jkk912
Posts: 3 Apprentice
2F gripper positional data Fanuc CRX series |
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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
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.
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.
This is exactly what I ended up doing.
Thank you for the help and the prompt responses.