ROBOTIQ HAND-E - 4.9. Control over Universal Robots; 4.9.1. Control with the Standard Coupling Kit; 4.9.2. Control with the Wrist Connection Kit (I;O Coupling)

Robotiq Hand-E Gripper Instruction Manual
4.9. Control over Universal Robots
4.9.1. Control with the Standard Coupling Kit
The URCap package contains many features to program and control the gripper. The package provides:
l Gripper Toolbar: The Gripper Toolbar is automatically installed with the URCaps package. It allows jogging and testing of the grip-
per. It is a great tool to try grasps with the gripper while programming.
l Gripper node: The URCaps package adds a Gripper node that is used to add a Gripper command. A node can make the gripper
move to a specific opening, grasp an object and modify the speed and force applied by the gripper.
Caution
Starting from Gripper URCap version 1.0.2, the gripper activation script command (rq_activate() or rq_activate_and_wait())
must be preceded by the reset command (rq_reset()). This will force the gripper's activation routine. Thus, if the gripper was
already activated, it will activateagain.
4.9.2. Control with the Wrist Connection Kit (I/O Coupling)
Info
A Gripper firmware update is required to use your gripper with the I/O Coupling. Make sure you have the latest version
installed. If an update is necessary on the I/O Coupling or the gripper, the Robotiq User Interface (RUI) will warn you and
request the update.
Info
To avoid confusion between the two RUCaps, make sure to delete the old Gripper URCap before using the I/O Coupling
URCap.
Info
Make sure your polyscope version is compatible with the URCap version. Visit robotiq.com/support for details.
Wrist Node
Multiple Wrist Nodes are available:
l Wrist Connection Activation
l Wrist Connection
l Wrist Grip Check
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