Script to assign gripper to certain ID #

Hello all,

I’m working with a robot that has (2) grippers upon the same robot end, both have URCaps. Recently a colleague shared with me that if the power goes out in our factory, the (second) gripper upon startup reassigns itself to gripper ID #1, thereby conflating itself with the original (first) gripper, both being assigned ID #1, instead of reassigning itself back to gripper ID #2.

Is there a way to fix this problem? Potentially a “script” that would assign a peculiar gripper to a particular ID in the “before start” of the program tree? Right now we just have a popup prior to start that tells the operator to double check the ID of the grippers upon starting.

Any ideas would be helpful, thank you.

Shameless self bumppppppp

Are the grippers the same? Do they share a URCap (your post makes it sound like each has it’s own URCap, which makes me wonder if both grippers are the same, hence my 2 questions)?

I have 2 robots with 2 Hand-e grippers each and have never seen this.