rq_activate_and_wait() not working with URCAPS for 2F-85

matthewd92

So I installed the current URCap from the support site (1.0.2) and when I place rq_activate_and_wait() at the top of the program it does not activate the gripper.  I even ran the gripper tutorial UR program and it does not activate in that one either.   Any suggestions on what is going on?  Before I installed the caps I was running the latest pre-caps firmware and the activate and wait worked without any issues.

Etienne_Samson

@matthewd92 do you have a rq_reset() before your activate and wait ?

abeachy_HG24

I have seen this same issue too. It seems to happen randomly for me though.

Etienne_Samson

@abeachy_HG24 @matthewd92 can you guys tell me what Polyscope + URCaps you have (any other one present?).

@Annick_Mottard is working on that bug right now and we could replicate on one of our robots but the other one are working fine. We will keep you updated on this.

abeachy_HG24

I am running .292 for Polyscope and 1.0.1 for the gripper URCap. No other URCaps. I have seen the rq_activate_and_wait() not work more often whenever I restart the UR after changing safety settings.

Etienne_Samson

@abeachy_HG24 thanks for the details! Do you use rq_reset() before your rq_activate() in your program ?

abeachy_HG24

@Etienne_samson I do not. I can try that and see if that works.

Etienne_Samson

@abeachy_HG24 using this is a better practice, for safety we will normally only activate when you have a rising edge, thus having rq_reset() sets the actvation bit to 0 and then when you have rq_activate() you set the activation bit to 1 and you have your rising edge.

If you have rq_reset() + rq_activate() and the Gripper does not activate, that's a bug.

matthewd92

Etienne_Samson said:

@matthewd92 do you have a rq_reset() before your activate and wait ?

I do not. We are running 3.3.3. I didn't see that in the tutorial either but I'll have to look again but the activate doesn't work in the tutorial either so assuming it's not. I'll try adding it this afternoon and report back. 

Etienne_Samson

@matthewd92 yeah the tutorial does not have it which isn't correct. I will make sure we correct this.

matthewd92

So I added the rq_reset() and it activates now!  

Thanks @Etienne_Samson for the fast response. 

lawrence

Hi all, i am facing a issue that when i load "basic_template.urp" from "robotiq_2f_gripper_programs" occur an error.
Contextual error: The function rq_activate is double defined. 

Robot firmware: 3.3.4.310 (Dec 06 2016)
PolyScope 3.3.4.310

Annick_Mottard

@lawrence this program was built with the legacy software package for UR. I assume you have installed the URCap package for the 2-Finger Gripper?   If so, you can still use this program but you will need to suppress or delete the first two lines of the BeforeStart section (rq_before_start.script and rq_script.script). You can refer to this section of the instruction manual for further details. With the URCap, you also do not need to use subprograms to create a gripper action. You can go in the Structure tab, and then in the URCaps tab and click on Gripper to add a gripper action. Go in the Command tab to edit it. 

lawrence

After i suppress some SubProg and script, i get what i want. Thanks!

Colin

does anyone know how to get rid of the same message "rq_activate is double defined" when I try to run the basic_template with the 3Finger installation guide? deleting those two lines of code as mentioned above will not work here as I have the latest version to date and all the subprograms are defined in the first script line of the BeforeStart sequence. please help!

David_Levasseur

@Colin Uninstall the gripper URCap.

Colin

how does uninstalling the gripper URCAP help me?

David_Levasseur

Because the functions are defined in both the gripper URCap and the 3F package. Since you don't need the gripper URCap when using the 3 Finger gripper, deleting the URCap will most likely solve your issue.

Colin

The 3Finger gripper does not have a URCAP file that shows up in the SetupRobot - URCAPS Setup tab. I believe that it is something that is installed in the background. 

David_Levasseur

There is no URCap for the 3 Finger Gripper and the 2 Finger Gripper URCap is interfering with the 3 Finger Gripper package.