10-29-2018, 02:07 AM
A further update for anyone interested:
I slowly learned that robot.RunInstruction('FunctionName', INSTRUCTION_CALL_PROGRAM), actually loads a program on the UR and executes. What I found however that this doesn't always work for some strange reason. The program loads, but nothing happens. Not only this, there was about a 5-second delay between the command being sent and then actually being executed.
I ended up disconnecting the RQ-2F from the UR controller and I'm now controlling it from the PC and execution is great, no delays at all. As I couldn't really find anything existing I created my own class using the pymodbus library. On top of that, I've also created a socket server that you can connect to via TCP so I now have two methods for controlling the gripper.
This has allowed me to control the gripper through my custom GUI as well as through RoboDK.
Happy to share it on request.
I slowly learned that robot.RunInstruction('FunctionName', INSTRUCTION_CALL_PROGRAM), actually loads a program on the UR and executes. What I found however that this doesn't always work for some strange reason. The program loads, but nothing happens. Not only this, there was about a 5-second delay between the command being sent and then actually being executed.
I ended up disconnecting the RQ-2F from the UR controller and I'm now controlling it from the PC and execution is great, no delays at all. As I couldn't really find anything existing I created my own class using the pymodbus library. On top of that, I've also created a socket server that you can connect to via TCP so I now have two methods for controlling the gripper.
This has allowed me to control the gripper through my custom GUI as well as through RoboDK.
Happy to share it on request.