Hi Everyone,
I’m working with an OnRobot RG6 gripper using the official OnRobot URCap.
The gripper works perfectly when programmed directly on the PolyScope pendant, no issues there.
However, I’m running into trouble when trying to load custom URScripts generated by the Robots plugin in Grasshopper.
In my custom script, I’ve included the OnRobot initialization blocks and I’m calling the gripper using: on_return = rg_grip(9.1, 36.0, tool_index = 0, blocking = True, depth_comp = False, popupmsg = True)
rg_payload_set(mass = 0.0, tool_index = 0, use_guard = True) to open the gripper and close the gripper in the custom commands for the pick locations respectively,
These commands are placed in the appropriate pick/hold sections.
What works
The program3.script file exported from the UR pendant runs correctly.
The RG6 responds reliably inside a URP program.
What does NOT work
The custom URScript from Grasshopper fails to load, even though it includes the same initialization logic.
The robot reports an installation-related error before execution begins.
I have attached the UR robot script generated by the robot pendant as program3.script for reference. Also, the custom script generated by me from grasshopper,
Has anyone successfully integrated GH Robots, while maintaining RG6 functionality or similar grippers.
Reference - (1770) UR Robot Grippers and URCaps in Grasshopper - YouTube
any help is appreciated,
thanks in advance,
urscriptcustom.script (53.8 KB)
program3.script (51.3 KB)
program3.urp (1.4 KB)