[jheimann]

RoboDK contains the XarmAPI version 1.1.5 (which I believe is really 1.15.0 from Github... https://github.com/xArm-Developer/xArm-Python-SDK).  I need to update this to version 1.18.0 (latest version).  The reason for this is my gripper I have (uFactory Gripper G2) is not supported in the 1.15 version, but only from 1.16 and above.

Also, I can't seem to get my custom gripper I created (mechanism model mechanism) to work right.  It works fine in the animation, but it will not actually open or close on the robot.  When I open the gripper to 80 (0 is closed) the robot joint 1 moves 80 and the gripper does nothing.

How do I get this custom 2 finger gripper I created to actually run on the robot?  Any help would be appreciated.

Thanks!

[Albert]

You can replace the xarmapi from the folder C:/RoboDK/Python. You can also delete this version and install yours using pip install. We’ll update this with the latest version of RoboDK.

For the custom gripper issue, it would help to see the RoboDK project and how the mechanism is set up. If you share the RDK file, we can check why the motion is going to joint 1 instead of controlling the gripper. Can you share your RDK project?

[jheimann]

I will try and update the API version on my installed copy today.  In the mean time, please find attached my RDK file.  This contains a custom mechanism "My G2 Gripper" that I created according to the documentation and video tutorials. I use the same XarmDriver.py for this gripper.  When running Prog2 with "run on robot" selected, the gripper will open and close in the software, but rotate the robot joint1 on the robot.

I created an OpenGripper.py file that runs on the robot, and tried to call that from Prog3, but it does not work.  Is there a way to run a Python script on the robot from within RoboDK?  you can see where I was trying to go here, calling the correct XarmAPI call to open and close the gripper in a python script, but it doesn't work when running Prog3 on the robot... I even went so far as to make the script fully self contained (creating all the needed classes and connecting to the API, etc.) which made no difference.

Finally when using the custom gripper it does not work properly in the software.  I created 2 targets, "Gripper Open" and "Gripper Closed".  When I execute this target (double clicking on the target) the jaws work as expected.  When I call a joint move with this target and select Target type "Keep cartesian position" the jaws don't move.  If I select "Keep joint values" the robot arm moves when executing the move and the jaws still don't open or close.

How do I command the gripper to open and close in a program properly?  This seems to be a challenge for me.  Any help would be appreciated.

Thanks!