{"id":1209,"date":"2019-04-25T07:21:57","date_gmt":"2019-04-25T11:21:57","guid":{"rendered":"https:\/\/robodk.com\/blog\/?p=1209"},"modified":"2024-11-05T04:36:51","modified_gmt":"2024-11-05T09:36:51","slug":"program-end-effector","status":"publish","type":"post","link":"https:\/\/robodk.com\/blog\/program-end-effector\/","title":{"rendered":"How to Program Any End Effector with RoboDK"},"content":{"rendered":"\n

Programming end effectors is tricky. Each brand does it differently! Wouldn’t it be great if every tool used the same method? Here’s how to do it!<\/strong><\/p>\n\n\n\n\n\n\n\n

There so many ways to control end effectors!!<\/p>\n\n\n\n

Some end effectors use basic digital I\/O (on\/off, open\/close, etc). Others use analog outputs (e.g. 0V to 5V). Others use serial communication (e.g. modbus, CAN bus, i2c). Others use USB. Others use Ethernet with TCP\/IP\u2026<\/p>\n\n\n\n

\u2026 Why can’t we program all end effectors using the same method!?<\/p>\n\n\n\n

In this article, we’ll explain how to do exactly that.<\/p>\n\n\n\n

The Problem With End Effectors<\/h2>\n\n\n\n

At RoboDK, we want to make it as easy as possible for you to program any robot without having to master a different programming method for each new brand.<\/p>\n\n\n\n

Our Robot Library<\/a> contains hundreds of different robots. You can program them all using the same method, without ever having to learn the manufacturer-specific programming language \u2014 either using graphical programming or using <\/a>your favorite programming language,<\/a> depending on your preference. As a result, we’ve made it easier than ever before for you to program any robot brand with no extra learning curve.<\/p>\n\n\n\n

As a result, you will need to do a bit of programming to use your end effector with offline programming. But, we have tried to reduce the programming to a minimum.<\/p>\n\n\n\n

End effectors are not so straightforward. Even within the same brand of end effector, different models require different programming methods. Some have a simple set of commands, others are alarmingly complex.<\/p>\n\n\n\n

How to Program Any End Effector in RoboDK<\/h2>\n\n\n\n

I’m going to assume that you are already familiar with basic RoboDK programming. If not, it might be a good idea to read the Getting Started guide<\/a>.<\/p>\n\n\n\n

Step 0: Load Up Your End Effector Model<\/h3>\n\n\n\n

Before you start to program your end effector, you will need a robot model loaded into RoboDK with your end effector model attached. If you don’t have an end effector yet, here are three ways to add one to your simulation:<\/p>\n\n\n\n

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You can literally use any end effector. Hand model by Teak<\/a>. <\/figcaption><\/figure>\n\n\n\n
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  1. Get a generic tool from the <\/a>Robot Library<\/a> (select “Tool” in the “Type” menu) and add it to RoboDK.<\/li>\n\n\n\n
  2. Make an empty tool\u00a0 by going to the “Program” menu and selecting “Add empty tool.” This will create an “invisible” tool with a reference frame at the end of the robot arm.<\/li>\n\n\n\n
  3. Load up any custom end effector using a 3D CAD file. For instructions on how to do this, read <\/a>The 5 Minute Guide to Use Any End Effector with RoboDK<\/a>.<\/li>\n\n\n\n
  4. Make sure to properly define the Tool Center Point (TCP): Define a TCP with RoboDK.<\/a>
    <\/li>\n<\/ol>\n\n\n\n

    Step 1: Learn How to Control Your End Effector<\/h3>\n\n\n\n

    Read the manual which came with your end effector to find how to control it. As I’ve mentioned, this varies wildly between models.<\/p>\n\n\n\n

    Pick the simplest control option that you can for the functionality that you need.<\/p>\n\n\n\n

    For example, if the end effector can be operated by a digital I\/O, it is often easiest to achieve this using the pins on the robot’s controller. If it requires communication protocols (e.g. ethernet, modbus) you will have to delve deeper.<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    Some end effectors support both digital I\/O control (for basic operations) and communication protocols (for more advanced features). If you don’t need the advanced functionality, you don’t have to use the full control.<\/p>\n\n\n\n

    At the very least, you will need to learn how to activate\/deactivate the end effector. For example:<\/p>\n\n\n\n