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adaseradaser Posts: 1Unconfirmed Recruit
Hi, I've been trying to write my own simple program for controlling the gripper 2F-85 via URScripts, and although the gripper activates and I can check it's status, I can't seem to execute any movement commands, such as rq_close or rq_move_mm (that is the one I want to use). I've updated URCap to the latest version (1.5.1). Polyscope Version is and Gripper firmware is at GC3-1.6.1. I've learned that when I put those functions in BeforeStart part of the program it works, but if I move everything to from this part to Robot Program it stops responding.


  • David_LevasseurDavid_Levasseur Posts: 181Beta Tester Beetle Handy
    @adaser, I opened a support ticket to help you with that. You will receive an email shortly. Please reply with the requested information.
  • GeonGeon Posts: 1 Recruit
    Hello, I had same problem!

    Can I get the solution @David_Levasseur provided?

    I want to control gripper and get the currency using Robotiq 2f 140mm gripper.

  • David_LevasseurDavid_Levasseur Posts: 181Beta Tester Beetle Handy
    @Geon, here is how @adaser solved his issue:
    Turns out socket connection doesn't work, because there is another socket opened under name "1" inside gripper base code, and that causes problems, I changed mine to a different number and also deleted rq_reset() function at the beginning of the program and it works now. Maybe changing this socket name to a different one could prevent more problems like this.
    And here is how our integration coach @louis_bergeron pointed him the right direction:
    I've installed your program in one of our robots.  Unfortunately, I can't run it as is.  I have removed all the instructions related to your socket instruction and everything was working correctly.  All gripper instruction were executed as expected.  I have changed the "if gripper_pos[0]" by "if True" and the following rq_close_and_wait is executed correctly.  I would like to know if your gripper script function works correctly when used in a program without this socket connection.
    Hope this helps
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