Hello everyone, I am using UR5e robot with the triple A wingman tool changer and 2FG7 OnRobot grippers. While working with the tool changer i stumbled upon the error during tool changing which says :
OnRobot - status error 2FG - Communication problem with 2FG gripper. Check device,Program Suspended.
or
OnRobot - RTDE error- RTDE feed error. Discrepancy of the tool counter OnRobot. Program suspended.
which results in the inability to use the gripper and the need to reset the robot. I checked most of the hardware and none of it seems to be the issue ( even borrow the exact same tool changer from local vendo which resulted in the same). And one more thing there is no problem with the communication with the gripper through tool changer.
You’re changing the tool as part of the robot sequence? So the robot disconnects and attaches another tool?
I don’t think OnRobot tools support this setup where the connection is disconnected while running.
I would recommend to reach out directly to tripleA Robotics.
They should be able to support you in this case.
AFAIK onRobot does currently not support automatic tool changing.
As both of you said, it is true that OnRobot doesn’t support tool changing. I did some research on this topic and it turned out that TripleA addressed this issue in the URcaps created for tool changer. It contains ready-made scripts for controlling OnRobot gripper. Additionally, to make it work correctly, it was necessary to uninstall the OnRobot URcaps.
Anyway Thanks for help everyone !