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Sebastien
Posts: 219 Handy
Getting Robotiq 2F85 gripper position in program using URCAP |
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/ Most recent by T800_412
in Programming
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8 comments |
@Annick_Mottard
I was just working on a program where I want to read the gripper position once closed on an object. The way I tried to do it is as follows:
I started from an empty program.
I added a GRIPPER command and used Edit action to set the gripper close command.
Then I tried to add subprogram rq_current_pos from the legacy UR package from your support website.
Then I simply added a variable gripperPosition = rq_pos in the program to get the gripper position.
However when I try to run the program there is an error popping up saying Contextual error: The function rq_current_pos is double defined. I am guessing this is probably related to the UR Cap interface which is probably using this function. However, if I try to include only the rq_pos in the program it does not work saying that this variable rq_pos is not defined. What should I do to get fingertips position?
I was just working on a program where I want to read the gripper position once closed on an object. The way I tried to do it is as follows:
I started from an empty program.
I added a GRIPPER command and used Edit action to set the gripper close command.
Then I tried to add subprogram rq_current_pos from the legacy UR package from your support website.
Then I simply added a variable gripperPosition = rq_pos in the program to get the gripper position.
However when I try to run the program there is an error popping up saying Contextual error: The function rq_current_pos is double defined. I am guessing this is probably related to the UR Cap interface which is probably using this function. However, if I try to include only the rq_pos in the program it does not work saying that this variable rq_pos is not defined. What should I do to get fingertips position?

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Etienne_Samson Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 419 Handy
@abeachy_HG24 @Sebastien this is how I usually teach it during the technical training, get your variable=rq_current_pos().Etienne SamsonTechnical Support Director+1 418-380-2788 ext. 207
[email protected]
The URCap already contains all the subprograms needed to control the gripper. They are simply embedded so you do not actually see them defined in your program. Try to suppress or delete those two subprograms to run your program.
Product Expert
Robotiq
[email protected]
So I use the same variables as we used in the legacy package but I simply don't use subprograms is this right?
Hi guys, how about to read the speed and force?
Here is a link to the section in the manual where the different functions are described.
For speed and force if you are asking about getting the live measures I don't think you can for speed and force. You can only retrieve the values that have been set for force and speed but not the live measure. Is this right @Annick_Mottard
Product Expert
Robotiq
[email protected]
Maybe I found it in the manual
rq_move_and_wait("position") I can get the position, calcualte the new position and tell it to go there.