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YazanYazan Posts: 4 Apprentice
in Programming
Hello everyone,

My program looks like this




and I want to open and close my gripper between these commands as a python program.
Do you know how to do that or which command to use??
I use 2-Finger-Greifer 2F-85

my URcaps looks like this:




Thank you for your help.
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Best Answer

  • bcastetsbcastets Vacuum Beta tester Posts: 695 Expert
    Answer ✓
    You need to include in all URscript programs that you send to the robot over port 3002 the declaration of the functions used be gripper opening and closing commands (rq_close_and_wait(), rq_open_and_wait() ,...). You can use this article (https://dof.robotiq.com/discussion/1987/how-to-control-robotiq-product-through-port-30002-on-universal-robot#latest) as a reference.

    When you execute a program on the teach pendant of a UR robot, it generate a URscript file base on the commands you have in your program tree and the URCAPs that you have installed on the robot. The URscript file contains the declaration of all functions of each URCAP followed but the main program which is equivalent to the program tree you can see in the user interface.
    You can copy all URCAP functions declaration and include at the top of the URscprit that you send to port 3002 so thta you can use URCAP script functions.

    You can find such URscript file by broosing the folder where you saved your program with a FTP client for example.


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