UR gripper signal

How is it possible to connect signal of robot program for gripper with post processing to UR? I used port 100 in visual component but while I wanted to run in UR it directs me to line of code “set_configurable_digital_out(100,True)” which leads to invalid port number!!!?

I would guess that UR doesn’t have 100 digital output ports.

I tried 0 and 1 port too,it didn’t work.

I’ve tested this with the PolyScope virtual controller and it seems that you can use port number 0-7. Port numbers equal to 8 and above do not exist.

It’s strange that it doesn’t work in your case. Here is the code I was using:

def Untitled():
  movej([0.000000,-2.515154,2.055373,-1.111016,-1.570851,0.000000],v=6.283185)
  movej([0.000000,-1.770658,2.490789,-2.290928,-1.570851,0.000000],v=6.283185)
  set_configurable_digital_out(0,True)
  set_configurable_digital_out(1,True)
  set_configurable_digital_out(2,True)
  set_configurable_digital_out(3,True)
  set_configurable_digital_out(4,True)
  movel(p[-0.423447, -0.163891, 0.600000, 2.221441, 2.221441, -0.000000],v=1.000000)
  set_configurable_digital_out(5,True)
  set_configurable_digital_out(6,True)
  movej([-0.000000,-2.515154,2.055374,-1.111016,-1.570851,-0.000000],v=6.283185)
  set_configurable_digital_out(7,True)
  set_configurable_digital_out(8,True) # after removing this statement no error will occur anymore
end #Untitled

Untitled()

I tried the code and unfortunately it did not work.

 

Have you removed the following line?

set_configurable_digital_out(8,True)

I’ve left the line in on purpose for you to be able to reproduce the error or fix it yourself by removing it, as I marked the line with a comment.

yes,i did remove it but no changes.