ROBOTIQ Hand-E C10 Instruction Manual page 97

97
Key scipt functions for use of the Gripper with a tool changer
Name
rq_reconnect_grippers(blocking,slave_ ids)
rq_disconnect_grippers()
As mentioned in the descriptions of the script functions above, it is important to always turn on and off the power while using a
tool changer. This action can be performed using the following UR script:
set_tool_voltage(voltage) The voltage argument can be 0, 12 or 24. In the specific case of the Robotiq gripper, use 24 to turn the
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power on and 0 to turn it off.
To ensure a reliable tool change, Robotiq recommends using the following sequence in the program:
Connection of the grippers:
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1. Physically connect the grippers
2. Apply the required voltage using set_tool_voltage(24)
Robotiq Hand-E C10 Gripper Instruction Manual
The function will resume the scanning mechanism of the software, allowing
communication with the available grippers. When the function returns its
argument, the user can expect communication and interaction with the
grippers. If the grippers are not available in the 30 seconds following the
request, the function will display a timeout error. This function should always
be used directly after physically reconnecting the gripper or turning on the
power.
Parameters:
blocking (default = TRUE): If True, the reconnection function will block the
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program's execution until it is completed. If False, the function will return the
argument immediately and be run in the background. This allows the user to
move the robot and perform other tasks in the program while the
reconnection occurs. In the robot program, any gripper interaction
(open/close/other) reached before the reconnection is completed will be
blocked.
slave_ids (default = []): If an empty list is provided, as it is by default, the
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function will make sure you reconnect to all the grippers that were present
when you last called the "rq_disconnect_grippers()" function. If the "rq_
disconnect_grippers()" function had never been called before, it will wait until
at least one gripper is available before activating it. If a specific list of slave_
ids are provided, it will prompt the user to reconnect the grippers
corresponding to the slave_ids. The slave id for the gripper identified as "1"
in the user interface should be passed as the numeric value "9." Numbers 2,
3 and 4 can be passed directly.
This instructs the Gripper software to disconnect from any connected gripper,
but to remember which grippers were available and how to communicate with
them. Also, this disables any "scanning" mechanism of the software until the
current program is stopped or until the reconnection function is called. This
ensures that if a device other than a Robotiq device is used, the software will
behave as intended and will not attempt to communicate with said device,
thus preventing hardware issues. This function should be used directly before
physically disconnecting the grippers or turning their power off.
Description