[Zeki]

Hi everyone,

I'm a new user trying to learn the software. So far I loved the online documentation and the instructional videos and I have managed to create my own work station with the robot and the machine that I wanted to tend. 

My question is, are there any documentation for the use of dual hand grippers (specifically the RobotiQ Hand-E dual Gripper) ? I see the product tree is different than the single grippers so I wanted to ask first if there are any documentation related to its use in RoboDK. I am trying to use it for a machine tending application.

At a first glance, I couldn't find how to select the active tool, then I couldn't find a way to move the tool from its TCP (it only moves from the flange).

Thanks for your efforts in advance to instruct a rookie!



Best,
Zeki

[Olivier]

Here is a example of a station using a dual hand grippers :  Machine Tending, Machining and Material Handling with TM12X | Station Library.

Here is how to add a "Set Tool" instruction :  Set Tool Frame - RoboDK Documentation.

You can add multiple TCPs to your robot and add a "Set Tool" instruction to switch between TCPs in your program.

[Zeki]

Hi Olivier,

Thank you very much for the prompt reply! I see a very detailed and nicely working simulation that works with dual gripper and a machine tending application.

My question is: are there any list of instructions or better a video demonstrating how to create such a station step by step? The video documentation of Jeremy is super helpful, I watched many of them but I think I have missed the parts that show

1. attaching the double hand gripper and creating the gripper1 and 2 as tools (see image) Because when I import the gripper, I don't see these in the product tree.
   
2. Creating the "mechanism" programs (OpenGripper1, CloseGripper1 and etc.). I see a MoveJ but where are the "targets"?
   
3. Switching between Gripper1 and Gripper2.