# \#yumi **URL:** https://tech-community.robotics.abb.com/tag/yumi/61.md [Latest](https://tech-community.robotics.abb.com/latest.md) · [Categories](https://tech-community.robotics.abb.com/categories.md) · [Tags](https://tech-community.robotics.abb.com/tags.md) --- ## [Smart gripper finger broken](https://tech-community.robotics.abb.com/t/smart-gripper-finger-broken/15004)
**Author:** [@leonardoooow](https://tech-community.robotics.abb.com/u/leonardoooow)\ **Replies:** 2\ **Last updated:** [June 8, 2026, 6:48am UTC](https://tech-community.robotics.abb.com/t/smart-gripper-finger-broken/15004 "2026-06-08T06:48:20Z")
After three years of service on a IRB14050 (YuMi Single Arm), today one finger of the Smart Gripper tool cracked while closing on a wooden brick and is now broken. I was able to print a 3D replacement and I’ll order a ne… --- ## [Real-time Detection of IRB 14050 Arm-Angle Discontinuities via ABB RWS (Replay Benchmark, EGM Next)](https://tech-community.robotics.abb.com/t/real-time-detection-of-irb-14050-arm-angle-discontinuities-via-abb-rws-replay-benchmark-egm-next/14929)
**Author:** [@ZuoCen\_Liu](https://tech-community.robotics.abb.com/u/ZuoCen_Liu)\ **Replies:** 1\ **Last updated:** [April 22, 2026, 7:22am UTC](https://tech-community.robotics.abb.com/t/real-time-detection-of-irb-14050-arm-angle-discontinuities-via-abb-rws-replay-benchmark-egm-next/14929 "2026-04-22T07:22:54Z")
Hi everyone, I am working on real-time detection of IRB 14050 arm-angle discontinuities and redundancy-resolution inconsistency using ABB Robot Web Services (RWS). Why this specific topic? For IRB 14050 / native 7-axi… --- ## [Assistance Needed – Left-Hand Gripper Activation Issue on ABB YuMi Robot](https://tech-community.robotics.abb.com/t/assistance-needed-left-hand-gripper-activation-issue-on-abb-yumi-robot/11927)
**Author:** [@Virat](https://tech-community.robotics.abb.com/u/Virat)\ **Replies:** 0\ **Last updated:** [May 19, 2025, 8:46am UTC](https://tech-community.robotics.abb.com/t/assistance-needed-left-hand-gripper-activation-issue-on-abb-yumi-robot/11927 "2025-05-19T08:46:29Z")
I am currently working with an ABB YuMi robot featuring dual arms and smart ABB servo grippers. However, I am facing an issue with gripper operation. My objective is to activate only the left-hand gripper when a specifi… --- ## [Unable to calibrate yumi robot](https://tech-community.robotics.abb.com/t/unable-to-calibrate-yumi-robot/11691)
**Author:** [@Rancho](https://tech-community.robotics.abb.com/u/Rancho)\ **Replies:** 0\ **Last updated:** [November 12, 2024, 9:17am UTC](https://tech-community.robotics.abb.com/t/unable-to-calibrate-yumi-robot/11691 "2024-11-12T09:17:15Z")
Hi all, When I use the control codes of yumipy to move the robot, I find the moving direction doesn’t match the robot coordinate system, so I try to calibrate it according to the product manual of Yumi. As the followin… --- ## [Get started with Wizard Easy Programming (Important to Read)](https://tech-community.robotics.abb.com/t/get-started-with-wizard-easy-programming-important-to-read/9415)
**Author:** [@ABB\_YuMiGuide](https://tech-community.robotics.abb.com/u/ABB_YuMiGuide)\ **Replies:** 3\ **Last updated:** [August 12, 2024, 12:04am UTC](https://tech-community.robotics.abb.com/t/get-started-with-wizard-easy-programming-important-to-read/9415 "2024-08-12T00:04:00Z")
Hello everyone, ABB has introduced Wizard Easy Programming, an easy graphical programming interface for your robot. Now you can easily program your robot tasks without having any prior coding or programming skills. For… --- ## [integrated vision](https://tech-community.robotics.abb.com/t/integrated-vision/7664)
**Author:** [@erict90](https://tech-community.robotics.abb.com/u/erict90)\ **Replies:** 7\ **Last updated:** [June 11, 2024, 6:59am UTC](https://tech-community.robotics.abb.com/t/integrated-vision/7664 "2024-06-11T06:59:51Z")
Hi, i am new to integrated vision there is some manual where is explained how to configure yumi’s camera and how to start with object detection ecc…? Thanks Eric --- ## [IRB 14050 and "Arm-Angle Reference Direction" setting](https://tech-community.robotics.abb.com/t/irb-14050-and-arm-angle-reference-direction-setting/11372)
**Author:** [@leonardodo](https://tech-community.robotics.abb.com/u/leonardodo)\ **Replies:** 1\ **Last updated:** [May 18, 2024, 3:18pm UTC](https://tech-community.robotics.abb.com/t/irb-14050-and-arm-angle-reference-direction-setting/11372 "2024-05-18T15:18:46Z")
I’ve been told that I should set Arm-Angle Reference Direction to Axis 1 in the controller configuration when using the YuMi Single Arm Robot. I’ve got a few questions: if that is important (avoid singularities, etc.) … --- ## [What is the definition of cfx in YuMi](https://tech-community.robotics.abb.com/t/what-is-the-definition-of-cfx-in-yumi/11090)
**Author:** [@Miladasgari98](https://tech-community.robotics.abb.com/u/Miladasgari98)\ **Replies:** 5\ **Last updated:** [April 18, 2023, 3:30pm UTC](https://tech-community.robotics.abb.com/t/what-is-the-definition-of-cfx-in-yumi/11090 "2023-04-18T15:30:07Z")
Hello, I am working with the YuMi manipulator but It is not obvious when the cfx parameters chage in the robot studio. please give me the information --- ## [Yumi robot controller and installation manager 6 trouble](https://tech-community.robotics.abb.com/t/yumi-robot-controller-and-installation-manager-6-trouble/10937)
**Author:** [@nameXDD](https://tech-community.robotics.abb.com/u/nameXDD)\ **Replies:** 1\ **Last updated:** [November 19, 2022, 7:32pm UTC](https://tech-community.robotics.abb.com/t/yumi-robot-controller-and-installation-manager-6-trouble/10937 "2022-11-19T19:32:56Z")
Hey guys! I have trouble with the ABB dual-arm Yumi controller and installation manager. I did restore a system from backup (and after did the same full restore, but without backup). So from RobotStudio, I’m doing log i… --- ## [Smart Gripper not working](https://tech-community.robotics.abb.com/t/smart-gripper-not-working/10838)
**Author:** [@Ozzy08](https://tech-community.robotics.abb.com/u/Ozzy08)\ **Replies:** 1\ **Last updated:** [October 25, 2022, 11:58am UTC](https://tech-community.robotics.abb.com/t/smart-gripper-not-working/10838 "2022-10-25T11:58:21Z")
Hello, I have a Yumi and am trying to calibrate the grippers. However, when I click the Smart Gripper program on my Flex Pendant, I can click the configuration icon and turn them on, but I cannot click on the icons for … --- ## [Lost communication with I/O device](https://tech-community.robotics.abb.com/t/lost-communication-with-i-o-device/10797)
**Author:** [@HainingLuo](https://tech-community.robotics.abb.com/u/HainingLuo)\ **Replies:** 4\ **Last updated:** [August 5, 2022, 10:22am UTC](https://tech-community.robotics.abb.com/t/lost-communication-with-i-o-device/10797 "2022-08-05T10:22:25Z")
Hi all, I have been working with a dual arm YuMi and recently an error ‘Lost communication with I/O device’ has been constantly raised from the flexpendent. The device that lost communication was either the left gripper… --- ## [Getting errors when using abb\_robot\_driver with live robot](https://tech-community.robotics.abb.com/t/getting-errors-when-using-abb-robot-driver-with-live-robot/10815)
**Author:** [@Ozzy08](https://tech-community.robotics.abb.com/u/Ozzy08)\ **Replies:** 0\ **Last updated:** [July 20, 2022, 8:20am UTC](https://tech-community.robotics.abb.com/t/getting-errors-when-using-abb-robot-driver-with-live-robot/10815 "2022-07-20T08:20:16Z")
Hello, I am trying to use the abb\_robot\_driver package and connect it to my Yumi in order to move it. However I have run into a couple of issues. When running the rws example on the page, I get the following error: "Pe… --- ## [Can I use Wizard with a virtual robot with the free RobotStudio trial version?](https://tech-community.robotics.abb.com/t/can-i-use-wizard-with-a-virtual-robot-with-the-free-robotstudio-trial-version/9417)
**Author:** [@ABB\_YuMiGuide](https://tech-community.robotics.abb.com/u/ABB_YuMiGuide)\ **Replies:** 1\ **Last updated:** [March 28, 2022, 2:30pm UTC](https://tech-community.robotics.abb.com/t/can-i-use-wizard-with-a-virtual-robot-with-the-free-robotstudio-trial-version/9417 "2022-03-28T14:30:01Z")
Yes, you can use Wizard with a virtual single-arm YuMi in RobotStudio. Get your free trial license now at https://new.abb.com/products/robotics/robotstudio/downloads Currently, the trial license will last until end of t… --- ## [What happens if I insert code in RAPID which is not available in blocks?](https://tech-community.robotics.abb.com/t/what-happens-if-i-insert-code-in-rapid-which-is-not-available-in-blocks/9418)
**Author:** [@ABB\_YuMiGuide](https://tech-community.robotics.abb.com/u/ABB_YuMiGuide)\ **Replies:** 1\ **Last updated:** [March 28, 2022, 2:28pm UTC](https://tech-community.robotics.abb.com/t/what-happens-if-i-insert-code-in-rapid-which-is-not-available-in-blocks/9418 "2022-03-28T14:28:47Z")
It will be shown as “expert code” in Wizard. --- ## [The fingers of the hand of my virtual robot don’t open and close? How can I make them work?](https://tech-community.robotics.abb.com/t/the-fingers-of-the-hand-of-my-virtual-robot-don-t-open-and-close-how-can-i-make-them-work/9419)
**Author:** [@ABB\_YuMiGuide](https://tech-community.robotics.abb.com/u/ABB_YuMiGuide)\ **Replies:** 2\ **Last updated:** [March 28, 2022, 2:27pm UTC](https://tech-community.robotics.abb.com/t/the-fingers-of-the-hand-of-my-virtual-robot-don-t-open-and-close-how-can-i-make-them-work/9419 "2022-03-28T14:27:58Z")
At the moment there is no solution but ABB will soon publish a SmartGripper Smart component in RobotStudio, then you will be able to simulate all gripper functions. --- ## [How fast is the very quickly speed? Can I change it?](https://tech-community.robotics.abb.com/t/how-fast-is-the-very-quickly-speed-can-i-change-it/9421)
**Author:** [@ABB\_YuMiGuide](https://tech-community.robotics.abb.com/u/ABB_YuMiGuide)\ **Replies:** 1\ **Last updated:** [March 28, 2022, 2:23pm UTC](https://tech-community.robotics.abb.com/t/how-fast-is-the-very-quickly-speed-can-i-change-it/9421 "2022-03-28T14:23:51Z")
The default speed is v= 1000. Please watch the video, advanced features in Wizard to learn more about the speed https://www.youtube.com/watch?time\_continue=27&v=scaepXf2pTU&feature=emb\_logo --- ## [Cobots: Experiences and expectations](https://tech-community.robotics.abb.com/t/cobots-experiences-and-expectations/10634)
**Author:** [@mariella](https://tech-community.robotics.abb.com/u/mariella)\ **Replies:** 0\ **Last updated:** [March 13, 2022, 7:04am UTC](https://tech-community.robotics.abb.com/t/cobots-experiences-and-expectations/10634 "2022-03-13T07:04:22Z")
Dear community, As part of my Master’s thesis in Human-Centered Computing in cooperation with ABB Robotics, I am doing a survey to find out the barriers and obstacles related to collaborative robots. I would be very gra… --- ## [Can I add my own blocks?](https://tech-community.robotics.abb.com/t/can-i-add-my-own-blocks/9420)
**Author:** [@ABB\_YuMiGuide](https://tech-community.robotics.abb.com/u/ABB_YuMiGuide)\ **Replies:** 2\ **Last updated:** [September 20, 2021, 2:00pm UTC](https://tech-community.robotics.abb.com/t/can-i-add-my-own-blocks/9420 "2021-09-20T14:00:07Z")
We are working on this functionality, stay tuned to this thread and we will publish information about it here. --- ## [TUTORIALS FOR NEW COBOTS ? GoFa?](https://tech-community.robotics.abb.com/t/tutorials-for-new-cobots-gofa/10287)
**Author:** [@ABB\_YuMiGuide](https://tech-community.robotics.abb.com/u/ABB_YuMiGuide)\ **Replies:** 0\ **Last updated:** [July 14, 2021, 9:08am UTC](https://tech-community.robotics.abb.com/t/tutorials-for-new-cobots-gofa/10287 "2021-07-14T09:08:52Z")
You can download free online Tutorials for GoFa from the ABB Robotics Academy Online Learning These tutorials contain a step-by-step guide of setting up your cobot and getting started with programming. You can watch man… --- ## [How to correctly tune EGM settings so the YuMI can move in a slow speed?](https://tech-community.robotics.abb.com/t/how-to-correctly-tune-egm-settings-so-the-yumi-can-move-in-a-slow-speed/10253)
**Author:** [@yanjun\_yang](https://tech-community.robotics.abb.com/u/yanjun_yang)\ **Replies:** 1\ **Last updated:** [June 15, 2021, 5:43am UTC](https://tech-community.robotics.abb.com/t/how-to-correctly-tune-egm-settings-so-the-yumi-can-move-in-a-slow-speed/10253 "2021-06-15T05:43:58Z")
I’m using a ROS package to control the YuMI robot via EGM. The problem is that when we send a small velocity command to any joints of the YuMI, it cannot move. From the Product specification IRB14000, the resolution for… --- ## [How to check rws server working status?](https://tech-community.robotics.abb.com/t/how-to-check-rws-server-working-status/10175)
**Author:** [@yanjun\_yang](https://tech-community.robotics.abb.com/u/yanjun_yang)\ **Replies:** 3\ **Last updated:** [May 12, 2021, 6:12pm UTC](https://tech-community.robotics.abb.com/t/how-to-check-rws-server-working-status/10175 "2021-05-12T18:12:27Z")
Hi, all I use abb\_robot\_driver to control the YuMI robot, and it works well on my laptop. I could connect to a virtual controller of YuMI on Robotstudio or to the real YuMI. But when I tried to replicate the setup on an… --- ## [50194 Internal position error](https://tech-community.robotics.abb.com/t/50194-internal-position-error/10025)
**Author:** [@HenrikB](https://tech-community.robotics.abb.com/u/HenrikB)\ **Replies:** 2\ **Last updated:** [March 1, 2021, 1:32pm UTC](https://tech-community.robotics.abb.com/t/50194-internal-position-error/10025 "2021-03-01T13:32:55Z")
Hi, I get an internal position error on an ABB IRB 14000 YuMi after updating the revolution counter and running the verification program to ensure a correct calibration. This also happens when I run any other program. D… --- ## [Problem to move robot by external command via socket](https://tech-community.robotics.abb.com/t/problem-to-move-robot-by-external-command-via-socket/9904)
**Author:** [@Fra](https://tech-community.robotics.abb.com/u/Fra)\ **Replies:** 1\ **Last updated:** [January 6, 2021, 1:12pm UTC](https://tech-community.robotics.abb.com/t/problem-to-move-robot-by-external-command-via-socket/9904 "2021-01-06T13:12:41Z")
Hi everyone, I’m working on IRB 14000 Yumi robot but I’m having some problems. I’m trying to write a RAPID program which connects to an external system via Socket, from which will be sent the commands to move a Yumi ar… --- ## [How can I learn to use Wizard? Are there any Wizard tutorials provided by ABB?](https://tech-community.robotics.abb.com/t/how-can-i-learn-to-use-wizard-are-there-any-wizard-tutorials-provided-by-abb/9422)
**Author:** [@ABB\_YuMiGuide](https://tech-community.robotics.abb.com/u/ABB_YuMiGuide)\ **Replies:** 1\ **Last updated:** [January 4, 2021, 10:37am UTC](https://tech-community.robotics.abb.com/t/how-can-i-learn-to-use-wizard-are-there-any-wizard-tutorials-provided-by-abb/9422 "2021-01-04T10:37:40Z")
Yes, ABB has developed easy How-to videos for our customers who want to learn and get started with Wizard. Please visit our website, https://new.abb.com/products/robotics/application-software/wizard and watch the How-to… --- ## [Virtual Human simulations with YuMi](https://tech-community.robotics.abb.com/t/virtual-human-simulations-with-yumi/9700)
**Author:** [@DanielEPG](https://tech-community.robotics.abb.com/u/DanielEPG)\ **Replies:** 0\ **Last updated:** [September 15, 2020, 4:45pm UTC](https://tech-community.robotics.abb.com/t/virtual-human-simulations-with-yumi/9700 "2020-09-15T16:45:41Z")
Hello everyone Here are two simulations that I have done with the Single-Arm YuMi and the Virtual Human that Florian Knecht has developed. You can see this awesome tool here: ABB Robotics Community - Maintenance Thes… --- ## [Callibration tool for YuMi (measuring tip)](https://tech-community.robotics.abb.com/t/callibration-tool-for-yumi-measuring-tip/9587)
**Author:** [@Katja\_B](https://tech-community.robotics.abb.com/u/Katja_B)\ **Replies:** 2\ **Last updated:** [September 2, 2020, 3:29pm UTC](https://tech-community.robotics.abb.com/t/callibration-tool-for-yumi-measuring-tip/9587 "2020-09-02T15:29:09Z")
This is a great solution for a measuring tip. Attached you can find all the needed files. Do you have something similar to share? Any small thinks others could use? Callibration tool.zip (6.76 MB) --- ## [Get started with Wizard Easy Programming](https://tech-community.robotics.abb.com/t/get-started-with-wizard-easy-programming/9424)
**Author:** [@ABB\_YuMiGuide](https://tech-community.robotics.abb.com/u/ABB_YuMiGuide)\ **Replies:** 0\ **Last updated:** [April 9, 2020, 1:28pm UTC](https://tech-community.robotics.abb.com/t/get-started-with-wizard-easy-programming/9424 "2020-04-09T13:28:55Z")
Hello everyone, ABB has introduced Wizard Easy Programming, an easy graphical programming interface for your robot. Now you can easily program your robot tasks without having any prior coding or programming skills. For… --- ## [Get started with Wizard Easy Programming](https://tech-community.robotics.abb.com/t/get-started-with-wizard-easy-programming/9416)
**Author:** [@ABB\_YuMiGuide](https://tech-community.robotics.abb.com/u/ABB_YuMiGuide)\ **Replies:** 0\ **Last updated:** [April 9, 2020, 10:19am UTC](https://tech-community.robotics.abb.com/t/get-started-with-wizard-easy-programming/9416 "2020-04-09T10:19:43Z")
Hello everyone, ABB has introduced Wizard Easy Programming, an easy graphical programming interface for your robot. Now you can easily program your robot tasks without having any prior coding or programming skills. For… --- ## [Arm in bad pose after restoring from someone elses' backup](https://tech-community.robotics.abb.com/t/arm-in-bad-pose-after-restoring-from-someone-elses-backup/9271)
**Author:** [@ABank](https://tech-community.robotics.abb.com/u/ABank)\ **Replies:** 4\ **Last updated:** [February 11, 2020, 1:28pm UTC](https://tech-community.robotics.abb.com/t/arm-in-bad-pose-after-restoring-from-someone-elses-backup/9271 "2020-02-11T13:28:58Z")
We restored a backup from someone else’s YuMi on ours as a last resort. When we executed the task, the left arm oriented itself into an almost reverse/mirror configuration. Both arms moved erratically, but we were able… --- ## [Integrated camera Cognex AE3](https://tech-community.robotics.abb.com/t/integrated-camera-cognex-ae3/9301)
**Author:** [@alvpajbar](https://tech-community.robotics.abb.com/u/alvpajbar)\ **Replies:** 1\ **Last updated:** [January 31, 2020, 11:15am UTC](https://tech-community.robotics.abb.com/t/integrated-camera-cognex-ae3/9301 "2020-01-31T11:15:42Z")
Hi everyone! I´m working right now with YuMi for a project in the university. This robot includes the camera Cognex AE3 in the right hand, but I cannot find any information about obtaining images from it and how to acti… [Next page](https://tech-community.robotics.abb.com/tag/yumi/61.md?match_all_tags=true&page=1&tags%5B%5D=yumi)