[SeanG]

I thought I posted this yesterday but can't see the post - whoops, sorry if I accidentally double post

I'm attempting to control a RobotiQ Hand-E Gripper on a Omron TM5-900 through RoboDK whilst online programming. I'm able to address the robot through Modbus, but I can't access the Gripper at the moment.

I foundthis threadwhich mentions usingrobot.RunInstruction('RQ_2FG_Open', INSTRUCTION_CALL_PROGRAM)with the Universal_Robots_RobotiQ post processor, however I couldn't get it to function.

Further down in the thread the author post a RQ_2F_Gripper.py file, however I couldn't find the module thread_shutdown which is used so the code wouldn't run.

I've been combing through the manuals and know the registers I need to program to but I don't know how to do it. Anybody know how to get it working? I've attached my program code in case I'm doing something silly.

Cheers

Sean

[Jeremy]

Hi Sean,

You did not attach your code.

I don't know if it's possible or not, you might have to ask your Omron/TM representative.
If you are using Online programming, it means that you are using the Listen Node on the controller side, right?
Do you know if the Listen Node can receive a command to activate the gripper? If so, just let me know which command, and I'll help you integrate that with RoboDK.
(it can be a Modbus or Ethernet)

Jeremy

[SeanG]

Thanks for the response Jeremy! Whoops, I did in the first 'post' :P

Yep doing it through the Listen Node. I thought because of that I was doing an Ethernet connection but I had to configure the modbus in the manual I had. Now that I check there's no IP filter in the modbus settings so I might not be using modbus.

我要调查的节点和倾听see what I can do with it.

Cheers Jeremy

[Jeremy]

Hi Sean,

The driver is using both Ethernet and Modbus.
That's why you needed to set the Modbus connection.

Jeremy

[SeanG]

Found a manual for expressions that can be passed into and out of the listen node:https://assets.omron.com/m/1d1932319ce3e...Manual.pdf

It has a couple of functions for read and write from/to registers. Just need to figure out how to access the Gripper's registers through the comm port now I think?

[Jeremy]

If I'm not mistaken, the gripper is controlled as a "component" in TM Flow.
You should see if you can control or call components using the Listen Node.

Jeremy

[SeanG]

You are correct! I'll have a look into that. Thanks Jeremy