Communication problems between a Robotiq gripper on the robot can sometimes occur when a tool changer is used. This article describes the workaround for this specific issue.
Principle of the Tool Changer: Smartshift
Video link: https://www.youtube.com/watch?v=-KMpbDapuOI
Technical Documentation: https://smartshift-robotics.com/download/
Compatibility
Universal Robots - E-Series Model Only
Compatible Robotiq Grippers : 2F-85, 2F-140, Hand-E, EPick
Source:
How to Implement
Download and Install on the root of a USB key
- Smartshift URCaps: https://smartshift-robotics.com/download/
- Robotiq Script rq_cycle_tool_voltage_until_connection (here) to ensure :
- Compatibility between the tool changer and the gripper
- Communication between UR E-Series and Robotiq Gripper through the Smartshift tool
Follow the steps described here : https://share.robotiq.com/public/e9bf5
Camera Setting Example
