How to use a Tool changer ?

Here you will find guidelines to help you on the tool changer subject: key points, the brand recommended how to mont it.

Tool changer Brand

Here is our brand recommendation for tool changers: ATI, Schunk, Smartshift, Staubli...

Here is documentation about the Smartshift tool changer :
Smartshift Tool Changer Robotiq documentation
Smartshift UR link

What is the type of connection possible with the Robotiq Grippers ?

There is two couplings and connection that you could use.
You have the coupling GRP-CPL-062 that use a M12 connection :

Or you can use a coupling GRP-ES-CPL-062 with a M8 connection :

Unfortunately, we don't provide any other connector. If these couplings don't fit to your tool changer, you will need to make a custom connector.

How to change my tool to prevent errors ?

Here is a link to the DOF article explaining key points ( manual tool changing but it will be the same concern for automatic regarding electrical supply and communication).

We added also two script functions for the use of the gripper with a tool changer :

As mentioned in the descriptions of the script functions above, it is important to always turn on and off the power while using a tool changer. This action can be performed using the following URscript: set_tool_voltage(voltage). The voltage argument can be 0, 12, or 24. In the specific case of the Robotiq gripper, use 24 to turn the power on and 0 to turn it off.

To ensure a reliable tool change, Robotiq recommends using the following sequence in the program:

Connection of the grippers:

Physically connect the grippers
Apply the required voltage using set_tool_voltage(24)
Call the rq_reconnect_grippers(False) function to launch the reconnection process in the background of the program
Perform the rest of the program

Disconnection of the grippers:

Call therq_disconnect_grippers() function
Turn off the voltage using set_tool_voltage(0)
Physically disconnect the grippers