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ayushkumarayushkumar Posts: 3 Apprentice
in Programming
I have robotiq 2f-85 and epick. I followed https://dof.robotiq.com/discussion/2489/problem-on-control-robotiq-gripper-mounted-on-ur-robot-via-socket-communication-python and ur-rtde. And I am able to control the 2f-85 on UR5 and UR10 properly, getting feedback and position accurately. But for the 'epick' it's not working properly. I am not able to understand what command should be SET and GET for the can be used for Epick, Like 'SET POS 0-255' is for 2f-85 and should not be working with Epick. With activate, both grippers get activated. Can you explain the proper use of the GET and SET commands so that I can turn it ON, OFF and get the object is present or not.
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  • bcastetsbcastets Vacuum Beta tester Posts: 674 Expert
    Make a simple program with gripper and release command. Than look at the .script file generated after executing the program. You will see in the script how SET and GET functions are used.
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  • ayushkumarayushkumar Posts: 3 Apprentice
    where will the .script be generated? I want to use the python socket program to control the robotiq epick
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  • bcastetsbcastets Vacuum Beta tester Posts: 674 Expert
    Just mention the original article about how to control gripper connected on UR robot using socket communication.
    https://dof.robotiq.com/discussion/2420/control-robotiq-gripper-mounted-on-ur-robot-via-socket-communication-python#latest

    Here below is the definition of ePIck URscript functions which can be found in the .script file generated when you execute a program.

    By looking at the definition of those function you will be able to understand which GET and SET command you can send to control ePick.
    Look at rq_set_var and rq_get_var functions.

     #################################################
      # Vacuum general functions
      #################################################
      def rq_wait_for_vacuum_object_detected(gripper_socket="1"):
          while (not rq_is_vacuum_obj_detected(gripper_socket)):
              if (rq_is_vacuum_timeout(gripper_socket)):
                  return False
              end
              sleep(0.008)
          end
          return True
      end
      
      def rq_wait_for_vacuum_object_secured(gripper_socket="1"):
          while (not rq_is_vacuum_obj_secured(gripper_socket)):
              if (rq_is_vacuum_timeout(gripper_socket)):
                  return False
              end
              sleep(0.008)
          end
          return True
      end
      
      def rq_wait_for_vacuum_object_suction_complete(gripper_socket="1"):
          remaining_retries = 50
      
           # Wait for suction started
          while (not rq_is_vacuum_obj_in_suction(gripper_socket) and
                 not rq_is_vacuum_obj_detected(gripper_socket) and
                 remaining_retries > 0):
              sleep(0.01)
              remaining_retries = remaining_retries - 1
          end
      
          # Wait for suction completed
          while (rq_is_vacuum_obj_in_suction(gripper_socket)):
              if (rq_is_vacuum_timeout(gripper_socket)):
                  return False
              end
              sleep(0.01)
          end
      
          return True
      end
      
      def rq_wait_for_vacuum_object_not_detected(gripper_socket="1"):
          while (rq_is_vacuum_obj_detected(gripper_socket)):
              sleep(0.01)
          end
      end
      
      def rq_is_vacuum_obj_detected(gripper_socket="1"):
          gOBJ = rq_get_var("OBJ", 1, gripper_socket)
          sleep(0.008)
          return is_vacuum_OBJ_object_detected(gOBJ)
      end
      
      def rq_is_vacuum_obj_secured(gripper_socket="1"):
          gOBJ = rq_get_var("OBJ", 1, gripper_socket)
          sleep(0.008)
          return is_vacuum_OBJ_object_secured(gOBJ)
      end
      
      def rq_is_vacuum_obj_in_suction(gripper_socket="1"):
          gOBJ = rq_get_var("OBJ", 1, gripper_socket)
          sleep(0.008)
      
          if(is_vacuum_OBJ_object_in_motion(gOBJ)):
              return True
          else:
              return False
          end
      end
      
      def rq_is_vacuum_timeout(gripper_socket="1"):
          gFLT = rq_get_var("FLT", 2, gripper_socket)
          sleep(0.008)
      
          if(gFLT ==6):
              return True
          end
      
          return False
      end
      
      def is_vacuum_OBJ_object_in_motion(gOBJ):
          if (gOBJ == 0):
              return True
          end
      
          return False
      end
      
      def is_vacuum_OBJ_object_detected(gOBJ):
          if (gOBJ == 1 or gOBJ == 2):
              return True
          end
      
          return False
      end
      
      def is_vacuum_OBJ_object_secured(gOBJ):
          if (gOBJ == 2):
              return True
          end
      
          return False
      end
      
      def rq_set_pressure_timeout_minimum_vacuum(pressure, timeout, minimum, gripper_socket="1"):
          rq_set_pos_spd_for(pressure, timeout, minimum, gripper_socket)
      end
      
      def rq_set_vacuum_and_wait(pressure, timeout, minimum, mode, gripper_socket="1"):
          rq_set_pressure_timeout_minimum_vacuum(pressure, timeout, minimum, gripper_socket)
          gPRE = rq_get_var("PRE", 3, gripper_socket)
          while (gPRE != pressure):
              rq_set_pressure_timeout_minimum_vacuum(pressure, timeout, minimum, gripper_socket)
              sleep(0.008)
              gPRE = rq_get_var("PRE", 3, gripper_socket)
          end
      
          rq_set_gripper_mode(mode, gripper_socket)
          gMOD = rq_get_var("MOD", 3, gripper_socket)
          while (gMOD != mode):
              rq_set_gripper_mode(mode, gripper_socket)
              sleep(0.008)
              gMOD = rq_get_var("MOD", 3, gripper_socket)
         end
      end
      
      def is_FLT_vacuum_timeout(gFLT):
        if (gFLT == 6):
            return True
        end
      
        return False
      end
      
      def is_continuous_grip(maximum_vacuum):
        return maximum_vacuum == 0
      end
      
      def rq_vacuum_release(advanced_mode=False, shutoff_distance_cm=5, wait_for_object_released=True, gripper_socket="1"):
        local shutoff_distance = scale(shutoff_distance_cm, [0, 99], [0.00, 0.99])
        local pressure = 255
        local minimum = 0
        local timeout = 255
        rq_vacuum_release_raw(advanced_mode, pressure, minimum, timeout, shutoff_distance, wait_for_object_released, gripper_socket)
      end
      
      def rq_vacuum_release_raw(advanced_mode, pressure, minimum, timeout, shutoff_distance, wait_for_object_released, gripper_socket):
        rq_reset_fault_and_activate(gripper_socket)
      
        if advanced_mode:
          rq_set_vacuum_and_wait(pressure, timeout, minimum, 1, gripper_socket)
        else:
          rq_set_vacuum_and_wait(pressure, timeout, minimum, 0, gripper_socket)
        end
      
        # The following patch is for Robotiq's Camera issue when communication is lost, but not the activation
        # the communication driver reset the GTO bit
        rq_set_GTO_and_wait(1, gripper_socket)
      
        if wait_for_object_released:
          while (rq_is_vacuum_obj_detected(gripper_socket)):
      
            if advanced_mode:
              rq_set_vacuum_and_wait(pressure, timeout, minimum, 1, gripper_socket)
            else:
              rq_set_vacuum_and_wait(pressure, timeout, minimum, 0, gripper_socket)
            end
      
            # The following patch is for Robotiq's Camera issue when communication is lost, but not the activation
            # the communication driver reset the GTO bit
            rq_set_GTO_and_wait(1, gripper_socket)
            sleep(0.01)
          end
        end
      
        if advanced_mode:
          startStopPumpOnDistanceTravelledThread(shutoff_distance, gripper_socket)
        end
      end
      
      def rq_vacuum_grip(advanced_mode=False, maximum_vacuum=60, minimum_vacuum=40, timeout_ms=3000, wait_for_object_detected=True, gripper_socket="1"):
        local pressure = scale(maximum_vacuum, [0, 100], [100, 0])
        local minimum = scale(minimum_vacuum, [0, 100], [100, 0])
        local timeout = scale(timeout_ms, [0, 25500], [0, 255])
        rq_vacuum_grip_raw(advanced_mode, pressure, minimum, timeout, gripper_socket)
        if wait_for_object_detected:
              suction_completed = rq_wait_for_vacuum_object_suction_complete(gripper_socket)
              if(not suction_completed):
                  rq_set_var("GTO", 0, gripper_socket)
              end
        end
      end
      
      def rq_vacuum_grip_raw(advanced_mode, pressure, minimum, timeout, gripper_socket):
        stopStopPumpOnDistanceTravelledThread(gripper_socket)
        rq_reset_fault_and_activate(gripper_socket)
      
        if advanced_mode:
          rq_set_vacuum_and_wait(pressure, timeout, minimum, 1, gripper_socket)
        else:
          rq_set_vacuum_and_wait(pressure, timeout, minimum, 0, gripper_socket)
        end
      
        rq_set_GTO_and_wait(1, gripper_socket)
      end
      
      def rq_reset_fault_and_activate(gripper_socket):
          gFLT = rq_get_var("FLT", 2, gripper_socket)
      
          if(not is_FLT_no_fault(gFLT)):
              if(is_FLT_vacuum_timeout(gFLT)):
                  rq_set_GTO_and_wait(0, gripper_socket)
              elif(is_FLT_faulted(gFLT)):
                  rq_set_GTO_and_wait(0, gripper_socket)
                  rq_set_var("ACT", 1, gripper_socket)
              end
          elif(not rq_is_gripper_activated(gripper_socket)):
              rq_set_GTO_and_wait(0, gripper_socket)
              rq_set_var("ACT", 1, gripper_socket)
          end
      end
      #################################################
      # End - Vacuum general functions
      #################################################

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  • ayushkumarayushkumar Posts: 3 Apprentice
    This is not helpful, can you tell me what should be the command to turn it ON, OFF and check the object is present? I need at least these three to be working. I am able to activate the epick with "SET ACT 1". other commands are not working properly.
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  • bcastetsbcastets Vacuum Beta tester Posts: 674 Expert
    I never tested to control ePick this way but ePick and 2F or hande are controlled using similar commands.

    Here below are the registers for ePick and 2F:



    As you can see it is almost the same. Registers are just used differently.
    • The "Position request" register of the 2F become "Max relative pressure level request" for ePick.
    • The "Speed" register of the 2F become "Grip timeout/release delay" for ePick.
    • The "Force" register of the 2F become "Minimum relative pressure level request" for ePick.
    Knowing that you can send commands that you usually use to control the 2F and control ePick.

    Here below is a compairison of action request register:
    • 2F

    • ePick

    The main difference is that ePick action request register bit 1and 2 are use to set the vacuum mode "rMOD".



    Looking at this, if would pass the following commands to actuate ePick:

    #activate ePick
    SET ACT 1
    #Set go to bit to 0. This reset the gripper action request.
    SET GTO 0

    #Set gripper mode. 0 for Automatic mode OR 1 for Advanced mode. In this example we set advanced mode to manually set minimum and maximum vacuum. If you use Automatic mode no need to set min an max vacuum level.
    SET MOD 1
    #Set max vacuum level. 0 for 0%. 255 for 100%.
    SET POS 255
    #Set min vacuum level. 0 for 0%. 255 for 100%.
    SET FOR 70

    #Set go to bit to 1. The gripper will execute the action.
    SET GTO 1

    ePick manual will help you to understand the details:
    https://assets.robotiq.com/website-assets/support_documents/document/EPick_Instruction_Manual_e-Series_PDF_20210709.pdf



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