Time problem with ur5e

Technical Questions URScript
1

i work with the ur5e and 2fg7 gripper (installed with URcaps). After gripping the component the robot is waiting for round 3 sec before continuing. the cursor at the TP is already marking the next waypoint but is still waiting at the pickup point. I have no idea why. Here is the part of the skript:

[# begin: URCap Program Node
# Source: OnRobot, 5.14.0, OnRobot A/S
# Type: 2FG-Griff
on_return = twofg_grip(width=57.5, force=60, speed=100, external_grip=False, tool_index=0)
twofg_payload_set(mass = 0.0, tool_index = 0, use_guard = False)
# end: URCap Program Node
movel(Wegpunkt_3_p, a=1.2, v=0.25))]

Anyone has a idea what is happening in the row with twofg…?

2

It may be the width setting on the gripper. Is there a “grip confirmed” setting on the node in Polyscope?

The node may be expecting the gripper to be in a position that represents 57.5mm, but the part may have the gripper in a position that is smaller or larger than this setting plus some tolerance. The 3 seconds could be an internal timeout value inside the script that controls the gripper.

Try manually closing the gripper on your part, checking the position the gripper is at, then changing the setting in the program node to match that position. Or, look for a “grip confirmed” setting and disable it if your application allows.