2F-85 & 2F-140 - Instruction Manual
Name Description
function has never been called before, the software will wait until at least one
gripper is available before activating it. If a specific list of slave_ids are provided,
it will prompt the user to reconnect the grippers corresponding to the slave_ids.
The slave id for the gripper identified as " 1" in the user interface should be
passed asthe numeric value " 9". Slave id 2, 3 and 4 can be passed directly.
rq_disconnect_grippers() This instructs the Gripper software to disconnect from any connected gripper, but
to remember which gripperswere available and how to communicate with them.
Also, this disablesany scanning mechanism of the software until the current
program isstopped or the reconnection function is called. Thisensuresthat if a
device other than a Robotiq device is being used, the software will behave as
intended and will not attempt to communicate with said device, thus preventing
hardware issues. This function should be used directly before physically
disconnecting the grippers or turning their power off.
As mentioned in the descriptions of the script functions above, it isimportant to always turn on and off the power while using a
tool changer. Thisaction can be performed using the following URscript:
l
set_tool_voltage(voltage) The voltage argument can be 0, 12 or 24. In the specific case of the Robotiq gripper, use 24 to turn the
power on and 0 to turn it off.
To ensure a reliable tool change, Robotiq recommends using the following sequence in the program:
l
Connection of the grippers:
1. Physically connect the grippers
2. Apply the required voltage using set_tool_voltage(24)
3. Call therq_reconnect_grippers(False) function to launch the reconnection process in the background of the program
4. Perform the rest of the program
l
Disconnection of the grippers:
1. Call therq_disconnect_grippers() function
2. Turn off the voltage using set_tool_voltage(0)
3. Physically disconnect the grippers
To Next Page
