Hand-E Robotiq gripper stopped working after 5.21.2 update

Technical Questions Robot Communication
1

My Hand-E Robotiq gripper is connected directly to the Tool using an 8 pins cable.
I had Polyscope 5.14.5 version on my UR5 and updated it to 5.21.2.
i also updated Gripper URCaps from 1.8.7 to 3.19.1
After that my Hand-E Robotiq gripper stopped working and shows a solid red light (no communication?)
General>Tool I/O>I/O Interface Control>Robotiq Gripper is selected but the Scan does detect the gripper.

I see that from time to time the drivergripper daemon tries to communicate over /dev/ttyTool.

# lsof /dev/ttyTool 
COMMAND    PID USER   FD   TYPE DEVICE SIZE/OFF NODE NAME
URControl 2163 root   12u   CHR  136,0      0t0    3 /dev/pts/0

# lsof /dev/ttyTool 
COMMAND    PID USER   FD   TYPE DEVICE SIZE/OFF NODE NAME
URControl 2163 root   12u   CHR  136,0      0t0    3 /dev/pts/0
drivergri 2228 root   10u   CHR  136,0      0t0    3 /dev/pts/0

# ps aux | grep gripper
root      2170  0.0  0.0   2040   592 ?        Ss   12:38   0:00 runsv bundle@com.robotiq.urcap.gripper@-96457847
root      2172  0.0  0.1   3728  2836 ?        S    12:38   0:00 /bin/bash /root/GUI/felix-cache/bundle184/data/com/robotiq/urcap/gripper/impl/daemon/robotiq_2f_gripper_driver.sh
root      2228  0.8  0.4  23724  8604 ?        Sl   12:38   0:03 ./drivergripper

Any hints how to fix it?

2

I’d noticed for a while there (not exactly sure which versions) Polyscope would automatically turn off all the services. (Hamburger menu > Settings > Security > Services) Maybe the gripper uses something in there that got turned off? Otherwise it might also be worth reaching out to Robotiq

3

Thanks @eric.feldmann
I have contacted Robotiq customer support, but haven’t received a response yet. Their release notes state that 'this URCap was tested on 5.19.0, but no such Polyscope release exists.
PS: All services are enabled. Thanks for pointing it out to me.

5

@y.methot.Robotiq I have filled a form on your site, let me also write an email.

6

I also experienced a connection issue with third-party software after an update. In the Hamburger menu, under Security → Secure Shell, I found that the checkboxes for Enable SSH access and Allow port forwarding were unchecked. Enabling them resolved my connection problem.
I don’t know if this will work for you, but it’s worth a try.

7

Curently I have a Hand-E gripper with 5.21.3, URCap version 3.19.1 and it works fine.
My guess is that your gripper is quite old (it is quite a jump from 1.8 to 3.19) and something went incompatible inside the gripper (either hardware or URCap software).

I would recommend to go through Robotiq legacy download center and try older URCap versions and see where it stops working.

8

Thank you everyone for the comments and hints.
I went to the company here in Munich where I bought the UR5, and they gave me an I/O coupling with a micro-USB port. Using that and the Robotiq User Interface, I was able to flash a new firmware image onto the gripper. it works now. Apparently, the problem was that the firmware update of the Hand-E gripper failed, leaving it in a non-operational state.