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NOTE: Name the created json file “gripper.json“
Upload to the robot
Move the gripper.json file to a USB-stick and put it into the teach pendant of the robot. Copy the file from the USB-stick and paste it in the home folder of the UR robot.
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Select All Files for the filter to show the file.
As the file is now uploaded to the robot, you can then head over to the gripper tab under Installation and select “Import from gripper.json“
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Example
The following diagram is an example of a 4-channel suction-cup gripper with its corresponding gripper.json file. The different colors indicate different groups of suction cups that can be controlled together.
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Gripper.json file
| Code Block |
|---|
{
"name": "4-channel gripper",
"description": "test gripper for multiple product sizes"
"dimensions": {
"width": 400,
"length": 200,
"height": 150,
"weight": 1.9,
"foamHeight": 15
},
"properties": {
"coveragePercent": 51,
"edgeAlignment": false
},
"tcp": [0, 0, 150, 0, 0, 0],
"cog": [0, 0, 0],
"zones": [
{
"id": 1,
"x": 0,
"y": 0,
"width": 134110,
"length": 201180,
"grip": {
"type": "standard",
"channel": 0,
"inverse": false
},
"release": {
"type": "standard",
"channel": 41
}
},
{
"id": 2,
"x": -163110,
"y": 0,
"width": 6750,
"length": 201180,
"grip": {
"type": "standard",
"channel": 12
},
"release": {
"type": "standard",
"channel": 53
}
},
{
"id": 3,
"x": 163110,
"y": 0,
"width": 6750,
"length": 201180,
"grip": {
"type": "standard",
"channel": 24
},
"release": {
"type": "standard",
"channel": 65
}
},
{
"id": 4,
"x": 0,
"y": 0,
"width": 527380,
"length": 6750,
"grip": {
"type": "standard",
"channel": 36
},
"release": {
"type": "standard",
"channel": 7
}
}
],
"configurations": [
[1,2,3,4], [4], [1,2,3], [1,2], [2,3], [1], [2], [3]
]
}
|
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