ROBOTIQ CNC Machine Tending Kit Instruction Manual page 49

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Error messages overview
If a program is running without the Gripper being activated, the program will stop at the execution of a Gripper node and the following
message will be displayed in a popup. Tap Stop Program and activate the gripper with the toolbar to continue or add an activation
command in the program (please refer to the Control).
Caution
Starting from Gripper URCap version 1.0.2, the Gripper activation 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.
Gripper Program Template
A program template is bundled with the gripper URCap when installing it. You can find this template in the program folder of
PolyScope. It contains comments and pop up windows that explain gripper nodes and advanced functions.
Load and open the gripper_tutorial.urp program located in the root program folder. Make sure the Gripper is well connected to the UR
controller. Run the program. You will see pop up windows with comments on the Gripper nodes and advanced functions.
Robotiq CN C M achine Tending Kit Instruction M anual