QB SOFTHAND RESEARCH USER GUIDE —19
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6 Software
6.1 URCap
6.1.1 URCap installation
To install the
qb SoftHand
URCap into your UR robot, please refer to the how-to section(see Page 36).
6.1.2 URCap overview
The easiest solution to control the qb SoftHand from the Universal Robots ecosystem is to exploit the
URCap capabilities provided, and well described below.
6.1.3 Installation Node
The qbrobotics Installation tab is the place where all the information about the qb SoftHand state and its
stored settings are displayed all together.
Device Status Panel
The Device Status panel shows a led icon on its top right corner to quickly identify the connection state:
Red is for communication fault or non connected device;
Green, when everything looks good.
If there is a connection problem, the "Reconnect" button is enabled to manually reset the communication
to the robot controller.
In the same panel are shown the identification name of the device and the serial port on which it is
connected, e.g. "/dev/ttyTool" if the wrist connection cable is used.
Below, the actual motor current in mA and the actual hand closure state in percent value. If a program is
running while visiting the Installation Node, you can see these status bar varying accordingly to the hand
motion.
INFO:
The images used in this chapter refer to the e-Series Polyscope 5+, but a very similar interface
is available in Polyscope 3+ for CB-Series robots.
NOTE:
The empty panel on the top right is reserved for future features releases.
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