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13bmartens13bmartens Posts: 1 Recruit
edited June 2018 in Robotiq Products
Hi everyone,
we are using a FT150 attached to a UR10 for research purposes.
Unfortunately, the FT150 does not seem to be supported by the latest URCaps Version which would enable using external sensor values instead of the ones calculated from motor currents.
I have gotten a RTDE Communication working using an altered version of the official Python RTDE examples and the URScript Command:
enable_external_ft_sensor(enable, sensor_mass = 0.0, sensor_measuring_offset = [0.0, 0.0, 0.0], sensor_cog = [0.0, 0.0, 0.0])
The problem is that, despite sending [0,0,0,0,0,0] as external_force_torque, the get_tcp_force() function returns something like [0.005,0.002,20,0.021,0.074,0.001].

Does anyone have any experience setting the sensor_measuring_offset and sensor_cog variables for FT150?

Is a release of a newer firmware for FT150 possible?

Thank you in advance

Benedikt

Comments

  • David_LevasseurDavid_Levasseur Posts: 178Beta Tester Beetle Handy
    Hello @13bmartens, the latest compatible version of the URCap for the FT 150 can be found in the archives section of our support site. There is a version for CB 3.0 and another one for CB 3.1. Robotiq will not release any new firmware or URCap for this product in the future.
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