Open and close the Gripper via Socket

[yazan.doha94]

Hello everyone,

My program looks like this

and I want to open and close my gripper between these commands as a python program.
Do you know how to do that or which command to use??
I use 2-Finger-Greifer 2F-85

my URcaps looks like this:

Thank you for your help.

[benjamin.schmautz]

I do not know how you wired up that.
If the robotiq gripper use the wrist connection of the robot, then you need to set_digital_out(8, True) and set_digital_out(9, True)
The Tool Digital outs are appended to the list of digital outs and do not have own sequence.

    DO0 = 0
    DO1 = 1
    DO2 = 2
    DO3 = 3
    DO4 = 4
    DO5 = 5
    DO6 = 6
    DO7 = 7
    TDO0 = 8
    TDO1 = 9

By the way. If you want to do ifinite loop with while just write “while 1:”.
Also if you want to improve performance of your robot and do not want to hang up your program check out my controller sample in line 56. It wait for the movement of the robot finished and send then the next command.

BenjaminOC/UR_Robot_Control/blob/master/sample.py

[efn]

@benjamin.schmautz The Robotiq gripper communicates through a serial connection, and it can only be controlled through the URcap and no digital signals, as far as I know.
Maybe you know of a way to do this with above information provided - I do not know how to.