YuMi Smart Gripper commands

Collaborative Robots
1

Hi there,

I’m using a virtual controller in RobotStudio to control a YuMi robot, including controlling the Smart Grippers with the provided builtin commands. When I try and use any of the commands provided in the gripper product manual (in this case Hand_Initialize) the following error occurs:

IRB_14000_0.5kg_0.5m/RAPID/T_ROB_L/MainModule(3,9): Reference error(130): Reference to unknown procedure Hand_Initialize.	14/02/2017 14:52:52	General

I’m guessing I’ve not included the gripper commands in the build, but can’t find any information on how to do this. I’ve installed SmartGripper 3.52 from the RobotWare Add-Ins, and the error still occurs. I’ve attemped to create a new solution with station and robot controller, and even when I select “Customize options” in the controller set up I can’t find any settings referring to the grippers.

Many thanks

2

SmartGripper commands changed with version 3.51. Instead of starting with “Hand_” they start with “g_”. i.e. g_Init(), g_GripIn(), g_MoveTo(), g_GetState(), etc.

3

There are a few steps you have to follow

  1. Install SmartGripper Add-Ins. In my case version 3.40 and 3.52 are available

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  1. Open the Installation Manager

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  1. In the Controllers tab select your (virtual) system

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  1. In the Products tab install the SmartGripper (The Select Product screen appears when you click on the “Add…” button)

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  1. In the Options tab, make sure you have selected the options: “709-1 DeviceNet Master/Slave”, “841-1 EtherNet/IP Scanner/Adapter”, and “617-1 FlexPendant Intertace”

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  1. In the Confirmation tab click on “Apply”

  2. Make Backup of your system (because we need to reset the system)

  3. Reset System (I-Start)

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  1. Restore the Backup

  2. I have installed SmartGripper 3.52, with RobotWare 6.04.01. So as mentioned by David, the instructions start with “g_”

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4

Hi,
I follow your instruction and installing Smart Gripper was completed with success, but I still cannot use command to use SmartGripper in my application. There is something that could I miss?

I will be grateful for your help.

5

Hi guys,

I currently have a similar problem: I installed the SmartGripper AddIn as instructed above but don’t have access to any “g_”-commands in my modules. Is there anything else I have to do?
EDIT:
Now it worked. After several restarts of RobotStudio and System resets I can’t say what the problem was but I made it.
After the last System Reset I didn’t load the backup but synchronized the station to RAPID - maybe that was where something went wrong before…

Also, where can I get the gripper manual? I would search for solutions in there myself but I googled for it and it’s nowhere to be found :frowning:

Regards,
Toby

6

I tried above but still not working . Any updated solution for this issue ?