DoF - a Robotiq Community
Warning sign
The Dof Community was shut down in June 2023. This is a read-only archive.
If you have questions about Robotiq products please reach our support team.
Etienne_Samson

@Enric we have a beta driver that you could try out. :wink:

This is a modified version of the actual Gripper driver package for UR, it will allow you to change your Gripper slave ID so that you can control them individually or simultaneously. The package also got some examples on how to do it.

Beta is tested with on a UR with CB3 and Polyscope 3.2.21545

How to install this:
  1. Install the beta driver DCU-1.1.1
  2. Wire the Gripper cable to a M12 split (ACC-SPLIT-M12-2:1), use a single RS-485 --> USB converter
  3. From the UR teach, you will have the usual "Gripper" button, but it will contain an option to change Gripper slave ID
    1. You will need to have different slave ID for each Gripper. You need to connect your Gripper 1 by 1 to change the slave 
    2. default ID is 9, so have your second Gripper be assigned to something else then 9
      1. example:
        1. gripper1 --> slave ID 9
          zoom
        2. gripper2 --> slave ID 1
      2. Power cycle the Gripper to put changes in effect zoom
  4. After slave ID is changed, you can control each of the Gripper individually with the GUI:
     zoom


You have provided examples in the package, open demo_pick_and_place_2_grippers for example:
  • You will use normal functions that we provided but they will be assigned to gripper1 and gripper2 according to your previous choice.
  • rq_init_connection will be used according to your slave ID and chosen name with : rq_init_connection (slave ID, name)
  • When calling the provided function, you will assign them to a gripper, for example: rq_close_and_wait(gripper_1)

Enric

Excellent!

Enric

@Enric

Sorry hear that, I will need to know if you have other drivers installed, like the FT Sensor drivers.

Thanks!

Enric

Hi @Enric,

While we are working to fix the bug, you can change the slave ID using the Robotiq User Interface instead of using the GUI like you did previously.
Hi

Do you have news to fix the bug?

Enric

@Enric using the Robotiq User Interface you can reset the slave ID using the "recover device", when you do so you leave the USB plugged in but you power-cycle the device. Then you are going to be connected with default settings. You still need to set the parameters you want and then save them.
Thank you. Problem solved!

Enric
matthewd92

@Enric nice setup, would you share with me what is the cable management system ?

p.s. we are still working on the multi-Gripper
Etienne, that looks like the IGUS system, we looked at that when we were at Automatica in June

Victor_Canton

@Enric nice setup, would you share with me what is the cable management system ?

p.s. we are still working on the multi-Gripper
Etienne, that looks like the IGUS system, we looked at that when we were at Automatica in June


Hi,

It is the TRL30 from IGUS. But the Delrin block where it is attached, is internally done. It is fix with a tape and a strip. Nice, simple and cheap.