Stop Gripper movement if the robot is in reduced mode

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Home > Applications > Stop Gripper movement if the robot is in reduced mode

Gradeka 2018-01-17

Hi all,
my question is very simple: when the signals of Reduced Mode of my UR go down, I'd like to stop suddenly the movement of my gripper without losing the zero (like a PAUSE of movement). So the gripper holds and then restarts the movement when the signals of reduced mode go up. I found this article https://blog.robotiq.com/how-to-handle-protective-stops-and-emergency-stops
but it seems to be old and not working anymore.
Any help?
Thanks

Nicholas_Francoeur 2018-01-17

Hi @Gradeka,
Here is how you could do it in a thread:

The "S-Guard" would be your reduced mode inputs. Remember that it's not ideal to have your gripper stop its motion when in reduced mode though. For example, it could be required to drop a part before picking another one and avoid a protective stop at the same time.