[jheimann]

I am trying to open and close my gripper which is not supported by RoboDK (Ufactory Gripper G2).  I was told I could insert code to be executed, which I did (see Prog6 in the attached RDK file).  When I run on robot, the moves execute, but the added code that I inserted to open and close the gripper is not executed.

If I generate the robot program and copy and paste the code from VSCodium into Ufactory Studio and run it, the program works (gripper opens and closes).  Why does it not work when running the program from RoboDK with the Run on Robot selected?  This is a major detriment to debugging as I can't use my gripper at all.

Also, and much less important... when I select Send Program to Robot, it does not get put on my robot... where does it go and how do I get it to the robot?

[Albert]

I understand you are trying to use the driver.

Did the following commands related to the gripper work for you?

Code:

    robot.UARMAPI.set_gripper_g2_position(pos=80, speed=100, force=100, wait=True)

We may need to implement a passthrough to run custom commands to drive the gripper for uFactory.

[jheimann]

Yes, when I export the program with the " robot.UARMAPI.set_gripper_g2_position(pos=80, speed=100, force=100, wait=True)" complete with the indent (spaces) command in it, copy it into Ufactory Studio and run it, it does work. The gripper does open and close properly. However, in debugging a program (any program) in RoboDK using "run on robot" the command does not execute on the robot (gripper does not open or close).

I would expect when running on robot to step through my program, when it hits this inserted code command it would execute on the robot... it does not. This is a major hindrance to building and testing a program, one of the major advantages of RoboDK. I need to be able to actuate the gripper within RoboDK as I step through my program. How do I do that?

[Albert]

Can you test with this new version for Windows? This will allow you to run the robot.UARMAPI commands properly the same way you do with the post processor.

You can download it here:
https://drive.google.com/open?id=1WRVBDE...p=drive_fs

We'll soon make this new version public.