[MitjaGOLOB]

Hello!

I wonder if it is possible to use the OnRobot RG2 Colaborative Gripper in a RoboDK environment. I couldn't find it in the RoboDK Tool Library.

Thanks.

Best Regards,
Mitja

[Albert]

Hi Mitja,

We don't have this gripper in our library but you can easily create robot tools as explained here:
2022世界杯32强赛程表时间
//www.sinclairbody.com/doc/en/General.html#ModelRobot

Albert

[MitjaGOLOB]

Hello!

Thanks for the reply!

Description from the UR website: The movement and force of the RG2 gripper can be controlled by the user. The control is done directly on the Universal Robots user interface.
I wonder if this (movement and force control) can be done inside the RoboDK environment and how?

Best Regards,
Mitja

[Albert]

Hi Mitja,

Yes, this is possible. I recommend you to customize a post processor based on the default UR post and use a program call passing the gripper status variables to move the gripper.
//www.sinclairbody.com/doc/en/Post-Processor...SelectPost

你会find an example of an integration with RobotiQ grippers (Universal Robots RobotiQ post processor). You'll see that in the header it outputs the code/functions to control the gripper.

Albert

[MitjaGOLOB]

Hello!

Thanks.

Maybe another short question here: We would like to use the so-called 'force mode' (UR Robots). Can this mode be used in simulation? I suppose that we can't use this in the simulation.

Best Regards,
Mitja

[Jeremy]

Hi Mitja,

No it's not possible to o see force mode in simulation, but you can modify the post processor so that it can output the right force mode command for the UR controller.
Have a great day.

Jeremy