Hello, I’m trying to set up a variable for the gripper open and close parameters, open/close %, force, and speed, so that I can make changes to them with a PLC for different part numbers. Can anyone point me in the right direction of how to do this?
randy.gerding,
in the Robotiq manual
Hand-E_Instruction_Manual_e-Series_PDF_20190122.pdf (7.8 MB)
page 95 describes all of the Script commands to control your gripper.
use a script node instead of the built in nodes.
Create variables for your Gripper position and use that in your gripper command instead of a number.
you’ll have to write the value from your PLC to an input_int_register and update the variables before the gripper command.
input_bit_register_X
48 general purpose integer registers
X: [0…23] - The lower range of the integerinput registers is reserved forFieldBus/PLC interface usage
e.g.
Gripper_opening = 10 # where 10 is 10%
Gripper_force = 100 # a value between 0 and 255
Gripper_speed = 100 # a value between 0 and 255
rq_set_force(Gripper_force)
rq_set_speed(Gripper_speed)
rq_move_and_wait_norm(Gripper_opening)
Hope this helps
Matt, you’re on a roll today! Thanks very much again for the help.
Randy