RoboDK supports generating programs for Universal Robots that can operate RobotiQ grippers. You can operate the RobotiQ gripper by generating a program offline and by using the RoboDK driver for UR robots.

Using the RobotiQ gripper from RoboDK

You can operate the RobotiQ gripper directly from the UR controller by generating programs offline using RoboDK.

To add support for RobotiQ grippers you should select the Universal_Robots_RobotiQ post processor:

1.Right click a program or your robot

2.Select Select Post Processor

3.Select Universal Robots RobotiQ

Tip: Changing the post processor linked to a program applies to all programs that use the same robot.

You can then generate program calls that can operate the RobotiQ gripper. For example: rq_move_and_wait( 255 ) to open the gripper or rq_move_and_wait( 0 ) to close the gripper.

Robots Universal Robots - Image 20

Once you have the program ready in RoboDK, you can run it on the robot using one of these 2 methods:

Right click a program (such as the GripperOpenClose) and select Send Program to Robot
Right click a program (such as the GripperOpenClose) and select Generate Program (this second option requires you to manually load the program on the robot).

This method of operation does not require using the driver.

Tip: Learn more about how to generate programs in the programs section.

Using the RobotiQ gripper with the driver

You can operate the RobotiQ gripper directly from RoboDK using the driver (Run on robot option). The RoboDK driver for UR and RobotiQ allows you to run programs step by step from RoboDK and see the pointer being run anytime from RoboDK.

It is important to make sure you can connect to the robot to use this feature. You may need administrator privileges on Windows and/or add a Windows Firewall rule to allow this communication (if you disable the Windows Firewall it may help troubleshoot if the issue is related to the Firewall).

Note: The options Generate Program F6 and Send program to Robot should still work without the need to setup the driver (Windows Firewall, antivirus, etc).

You should follow these steps to add support to moving the RobotiQ gripper directly from RoboDK:

1.Download the following script file:
https://robodk.com/files/upload/progrobodk-rq.zip

Note: for older controller that do not support communications through the tool you should use this version:
https://robodk.com/files/upload/progrobodk-rq-no-tool-com.zip.

2.Unzip the progrobodk.script file here:
C:/RoboDK/bin/progrobodk.script

3.Make sure to restart the driver if it was running (double click Disconnect, then, Connect).

4.Select Tools-Options-Drivers

5.Uncheck the option: Manage program calls with RoboDK when connected to a robot.

Tip: UR logs can help you understand if anything fails on the robot side.

To properly operate the gripper using the driver (for example, opening/closing the gripper), you should use the program call to rq_move_and_wait by passing a parameter within the range 0-255.

Example:

rq_move_and_wait( 0 ) # Fully close the gripper

rq_move_and_wait( 255 ) # Fully open the gripper

The number passed as an argument is required by the driver.