Yes, We Now Support Two Grippers on One UR Arm!

David_Gariepy

...actually, we support up to four Grippers on the same arm.

Our new Gripper URCap software upgrade now includes multiple Grippers control. But that’s not all!

Here is the list of new features and bug fixes on the new Gripper URCap:

• Support for configuration and programming of up to 4 Grippers on the same UR arm. The Grippers can be moved all together or one at the time.

• The Gripper can now be reactivated from the Installation tab.
  

• The toolbar and Edit Action screen now include buttons to set speed and force to min/max values in one tap.

Watch a video on how to install the Multi-Gripper feature:

https://www.youtube.com/watch?v=HNoO7U40wrw

Download the new URCaps on our support website.

I’d like to give a special thanks to our beta testers that ensured this new software upgrade is top notch: @Enric from Vicosystems as well as @Gerbert and @Evert from Gibas.

bsawlor

With regards to the setup, are there part numbers to order the adaptor plate and the multi-gripper cable and any other necessary components?

David_Gariepy

Currently, we do not sell the adaptor plate. If you already have 2 grippers and 2 coupling, the only thing you will need is the M12 5pins splitter. 
The part number is ACC-SPLIT-M12-2:1

bsawlor

Ok, I upgraded the firmware and now when teaching a part, I keep getting an error saying I need to move to the snapshot position before the camera locate command.  I have tried several different methods, move to the variable waypoint, move to the same position as a fixed waypoint. Could the firmware have caused this?

David_Gariepy

I don't think the gripper URCaps cause this problem. This happen when you teach a new part or when you try to detect a part in the program?

bsawlor

Yeah, I created a program from an old one, and having a move before the camera locate to the snapshot position isn't being allowed even though it should and needs it.  The error comes back as UC-8.

David_Gariepy

Does the original program you copied from have been done using the same installation file?  If you teach a new part in a new program do you have the same problem? 

bsawlor

I taught the same part in a new program and still have the error coming up.

David_Gariepy

I just open a support ticket for this. we wil get back here if there is any useful information for someone else

Enric

Hi, @David_Gariepy

I have to installed version 3.4 Polyscope of UR and the new URcaps MultiGripper. I have only one Gripper connected. It works perfect in manual mode, but when I need programmed the gripper, all the buttons are gray. Only is possible to move the Gripper with the "menu" and then the button "Save action" appears blue color to record the configuration of the gripper.
The button "Go to position" always appears in gray.(not possible use this)

Do you know what may be possible?

P.D. This problem exits at 2 Robots diferents (UR10 / UR3) and two grippers diferents....

Thanks!

Etienne_Samson

@Enric the R&D is working on this, the bug happens when you update to Polyscope 3.4 (released yesterday) but does not happen with previous versions of Polyscope.

I could clear the bug either by rebooting the UR or be "awakening" the Gripper, I did a re-activate and it was working afterwards.

I will post as soon as we have a fix.

Best,

David_Gariepy

Hi everyone, 
Just want to let you know we just release an adapter plate for the dual gripper. 

You asked for it, we heard you, and here it is! Robotiq's brand new adapter plate for the dual gripper on Universal Robots is now officially available.  Made for Universal Robots There's a slight change in the design from what you've seen previously but it's lighter, simpler and Plug+Play. The new adapter plate fits all Universal robot like a glove just like the rest of our products. Some more specs: The new adapter plate for the dual gripper on Universal Robots (product AGC-APL-159-002): Offers ISO-9409-1-50-4M6 pattern on both robot and tool sides Made to be used with our CUR-DUAL-AGC-085 and CUR-DUAL-AGC-140 combos Includes the adapter plate and the mounting screws for UR (robot side) Be among the first to get it, contact your channel sales manager right away!

Attabotics

Is a CAD model available for the  AGC-APL-159-002?

Etienne_Samson

@Attabotics there you go: AGC-APL-159-00.STEP. We are in the process of revamping the website, it should appear there during the summer.

Attabotics

Etienne

Thank you.

spacebot

Hello Etienne, David, et al.,
I am currently developing a system with two grippers, one directly attached to a UR5, and one operating independently and attached to a remote mount. Our system will be out of reach of human operators and so we are controlling everything over TCP/IP with commands from a Python script; the teach pendant is not an option for us.

For the gripper on the UR5, we connect to it directly through the TCP port (63352) and controlling it with ascii commands such as "SET POS 250". Is there any documentation to tell me how I can connect to the second gripper over a TCP port? That is, how do I get the OS in the CB3 to forward data to/from a TCP port to the /dev/ttyUSB1 that gripper #2 shows up as? I am currently running UR software 3.3.4.310.

Thanks!

Etienne_Samson

Hi @spacebot, your commands will need to point to the correct slave ID, our Grippers are Modbus RTU slave units and our default slave ID is 9. Your second Gripper should have something else and you should build your functions to point to the correct slave ID. To change the slave ID you can either use the UR interface (with the URCaps installed) or you can do it with our PC software (Robotiq User Interface) that you can get at support.robotiq.com

Hope that helps!