﻿Robotiq Adaptive Gripper Fanuc CRX Plugin

This file describes the changes made to the software.

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Release 2.0.0 - 2026/04/24
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[NEW] Support for FANUC R-50iA controllers (Robot Software V10.10):
   • Enables the plugin to run on new-generation FANUC CRX controllers (e.g. CRX-30, CRX-25iA on R-50iA).
   • Minimum controller software: V10.10P/18

[BREAKING CHANGE] Plugin is now distributed as two separate IPL files, one per controller family. The integrator must install the IPL matching the target controller:                       
    • ROBOTIQ_Gripper-1.1.1.ipl  — for R-30iB Robot Software V9.40.                                                                    
    • ROBOTIQ_Gripper-R50iA-2.0.0.ipl  — for R-50iA Robot Software V10.10.  

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Release 1.1.1 - 2024/08/06
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[FIX] Minor adjustment in code.

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Release 1.1.0 - 2024/03/28
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[NEW] Grip Check karel program:
    • This instruction checks if the gripper has detected of not an object.
    • Insert the returned code into the register R[ ] selected by the user.
    • 0 = Object unknown
    • 1 = Object detected on open
    • 2 = Object detected on close
    • 3 = No object detected
[NEW] get_obj_detection_code routine:
    • Returns the same codes that the Grip Check Karel program sets in register.
    •  This routine is used by the Grip Check karel program and can be used by itself in another karel program.
[NEW] move_gripper routine:
    • This routine is used by the Instruction Open and Close and can be used by itself in another karel program.
    • See Close or Open Gripper instruction for parameter details.
[NEW] get_gripper_position routine:
    • This routine is used to get the actual gripper’s finger position between 0 and 255.
[NEW] is_gripper_activated routine:
    • This routine returns True or false depending on the activation state.
[NEW] get_gripper_fault routine:
    • This routine returns an error code : 
    • 0 = NONE
    • 3 = BRAKE_PROBLEM
    • 4 = BLOCKED_AT_START
    • 5 = NOT_ACT
    • 7 = GTO_WHILE_NOT_ACT
    • 8 = OVER_TEMPERATURE
    • 9 = COM_NOT_READY
    • 10 = UNDERVOLTAGE
    • 11 = ATR_IN_PROGRESS
    • 12 = INTERNAL
    • 13 = INIT
    • 14 = OVERCURRENT
    • 15 = ATR_COMPLETED




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Release 1.0.3 - 2021/09/24
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[CHANGE] The control group of the open and close programs is set to *
[CHANGE] Keypads only allow to enter natural numbers

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Release 1.0.2 - 2021/09/17
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[CHANGE] Gripper Change ID instruction has been moved to a configuration menu (upper layer)

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Release 1.0.1 - 2021/08/02
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[CHANGE] Gripper Change ID instruction has been moved to a configuration menu

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Release 1.0.0 - 2021/07/16
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Compatible with Robot Software Version 9.40.

[NEW] Gripper Change ID instruction (for dual grippers setups):
      Use this instruction to change the slave id of the Robotiq Gripper. 
      The slave id acts as the address of the gripper.
      The default slave id of the Robotiq Gripper is 9.
      On a single gripper setup
         - Don't use this instruction.
         - Use the default slave id 9.
      On a dual gripper setup:
         - The slave of the second gripper must be changed to avoid a duplicated address. 
         - Use the Change ID instruction in a program to change the slave id from 9 to 10.

[NEW] Gripper Activate instruction:
      This instruction activates the gripper.
      It must be placed at the start of the program.
      During the activation process, the fingertips must not interfere with any object.
      Use the Activate button to test the Activate instruction.

[NEW] Gripper Open instruction:
      This instruction opens the gripper.
      Position [0-255] is set to 0, 100% Open.
      Speed [0-255] is set to the maximum 255.
      Force [0-255] is set to the maximum 255.
      To disable regrasp, use force parameter at 0.
      "Wait for motion completed" option to wait the end of the gripper's movement before going to the next instruction.
      Use the "Go to position" button to test the Open instruction.

[NEW] Gripper Close instruction:
      This instruction closes the gripper.
      Position [0-255] is set to 255, 100% Closed.
      Speed [0-255] is set to the maximum 255.
      Force [0-255] is set to the maximum 255.
      To disable regrasp, use force parameter at 0.
      "Wait for motion completed" option to wait the end of the gripper's movement before going to the next instruction.
      Use the "Go to position" button to test the Close instruction.



