I'm doing a simulation in robodk using a UR 10e and a robotiq gripper 2f85. The simulation just involves 3 different "MoveL" functions (targets) and at the end of the program I just use the function "attach to gripper Robotiq 85 closed". Then, I got to connect my Robot through Ethernet so I can run the program Online (simulation and physically at the same time). The real robot executed 3 different "MoveL" functions but the gripper is not closing. How can I make the real gripper to move ?
Make sure to use the "Robotiq F-85" mechanism as a tool.
I'm not convinced that you will be able to control the gripper form your computer using the UR drive though.
For sure, you can control it if you post-process the program using the "Universal Robots - Robotiq" post-processor.
What kind of issues, I never used that feature and I don't have access to a Robotiq gripper.
Can you give me a bit more information?
the top section of the UR RobotiQ post-processor is written in "UR script", not in Python.
Therefore the syntax is correct.
It should stay in "comment" as this only defines everything there as a string to be copied as the "Header" of the UR script program.
The functions that are not defined should be known by the robot controller.
As I'm reading the part relating to the RobotiQ gripper, in your RDK station you could use a program call with "RQ_2FG_Close" to close the gripper.
Can you send us a valid Script program that opens and closes the RobotiQ 2F gripper?
The header of the script contains the correct code to communicate with the gripper.
We can update the post processor accordingly.