How to make UR5 know if Robotiq is clipped to an object

william 2017-12-06

Currently we need to do a blind job, but the challenge is how to let the UR5 know if the Robotiq has the necessary items

Etienne_Samson 2017-12-06

@william you should use the gripper embedded object detection feature with function rq_is_object_detected() in the ur program (inside a script). It will return true or false.

william 2017-12-06

@Etienne_Samson Sorry,I am a novice using UR5,I want to ask some questions about the gripper embedded object detection feature with function rq_is_object_detected()
1.This function can find in the UR5 or I need to make new floder by myself?Because I can not find this function in the UR program.
2.If Ineed to make new floder by myself.How should I make this program design?
3.My robotiq gripper power cord set here is correct?
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Etienne_Samson 2017-12-06

@william all the 2-Finger Gripper controls over UR are explained in the manual in the section "Control over UR", I suggest you go through it. Your wiring does seem ok, if you have a blue LED on the Gripper communication is good. If you have red then you have no communication (check the converter) if you have no LED then check the power.

william 2017-12-07

HI,@Etienne_Samson

I try success,thank you for your hlep.