Control Over Universal Robots With Urcaps; Gripper Activate Node; Gripper Move Node - ROBOTIQ 3-Finger Adaptive Robot Gripper Instruction Manual

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4.9 Control over Universal Robots with URCaps

The URCaps package contains many features allowing to program and control the 3-Finger Adaptive Robot Gripper.

3F Gripper Activate node

This node is used to add a Gripper Activate command. The command will initiate the activation sequence of the Gripper.

3F Gripper Move node

This node is used to add a Gripper Move command. The node can make the Gripper move to a specific opening distance in a specific mode, and

modify the speed and force applied by the Gripper.

3F Object Detected node

This node is used to add a command sequence if an object is detected/not detected by the Gripper.

4.9.1 3F Gripper Activate node

This node commands the activation sequence of the 3-Finger Adaptive Robot Gripper. If the user selects the Reset and activate radio button, the

Gripper will initiate the activation sequence everytime the command is executed. If the user selects the Activate only radio button, the activation

sequence will be executed only if the Gripper is not already activated.

4.9.2 3F Gripper Move node

3-Finger Adaptive Robot Gripper Instruction Manual

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