ROBOTIQ HAND-E - 4.9.8. Gripper Node

Robotiq Hand-E Gripper Instruction Manual
4.9.8. Gripper Node
To add and edit a Gripper node inside your robot program, follow the steps below:
For e-Series
1
On the teach pendant, at the top of the screen, tap the New icon to create a program or the Open icon to load a program.
2
Select Program. The Program window will display.
3
Tap the URCaps menu in the navigation pane on the left.
4
Tap the Gripper button.
5
Select the node in the robot program and tap the Command tab.
6
Tap the Edit action button to edit the node's parameters.
For CB-Series
1
Tap Program Robot.
2
Open an empty program or load one.
3
Go to the Structure tab and tap the URCaps submenu.
4
Tap the Gripper button.
5
Go to the Command tab to edit the Gripper node inserted.
6
Tap the Edit action button to edit the node's parameters.
Info
The gripper needs to be activated before it can receive a command. To do so, use the rq_activate_and_wait() function script
at the beginning of the program or activate with the Gripper Toolbar. 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.
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