Robotiq Vacuum Gripper with a UR10e

[Seg31]

Hello,

The University where I work acquired a robotiq Vacuum gripper. We are trying to use it with a cobot UR10e but I couldnt find info on how to use it with the plugin. (We already installed the URcap and it is working using the teach pendant)

Can anyone give me a hint on how to do it, please?

Thanks in advance

[visose]

Hi, the plugin contains "command" components for common functions that are usually is included in a robot controller, but you can use the "Custom command" component to call any other URScript function.

I believe the robotiq gripper installs in the controller additional URScript functions to operate the gripper.

[LoyWeiWin]

Im pretty sure that the solution. You can find the commands on pp 61 on this manual. Hopefully it helps.

[Seg31]

Thank you for the information. First I had to create a custom command rq_activate_and_wait() and then on the plane where I wanted the gripper to be activated i needed the function rq_vacuum_grip() and rq_vacuum_release() which was on page 61 of the manual. Doing that the vacuum gripper worked

Thank you very much for the help.