I have also set up the signals using a backed up SYSPAR/EIO.cfg file from the I have setup the grippers as shown above using the rapid files from the feature-egm branch. PS: I have been writing a tutorial about YuMi firmware setup, but it's not ready yet: However, if you do need to set them, you can find a list of them after you unzip any of our firmware backups, as: I haven't set any particular set of signals, just worked with the ones that come pre-set in YuMi by default.
Hence, if you need the scripts, clone the repo, feature-egm branch, out of your ROS workspace and just access the relevant folder yumi_hw/rapid/ to get the scripts. If you clone it and try to build it without the corresponding libraries provided by ABB, it will fail. Note: the main feature developed in that branch is the support for Externally Guided Motion (EGM), an interface for real time control. The RWS and Grippers folders, containing the RAPID code, are the ones that appear here: T_GRIP_State, T_GRIP_Motion, T_GRIP_Motion_L, T_GRIP_Motion_R Then, load the following modules into each of the tasks listed: File Particularly, for using the grippers create the following tasks: TaskĪfter creating them, do a soft restart. I usually set the grippers modules (and all other motion modules) as normal tasks, for safety reasons. If my assumption is wrong, could you point me in the right direction. It seems I may also need to know what to map these aliases to. ) but nothing seems close enough to the aliases that are defined here. I have looked at some tutorials on how to setup IO signals for the gripper (eg. Is my assumption above correct and if so are there any instructions or could you point me to anything that will help me with this.
From what I can see, about 20 of these signals may need to be setup for each gripper. need to be setup by defining their respective signals through the IO Configuration in RobotStudio. The error seems to suggest that the aliases for "hand_ActualPosition_L", "hand_ActualSpeed_L", "hand_SysState_L" etc. However, when I do a warm restart a couple of "Alias Define" errors are reported for the "HandDriver_left.HandSetupChirality()" and "HandDriver_right.HandSetupChirality()" procedures. There are no errors when I run the "RAPID->Check Program" function in RobotStudio. I have loaded the gripper RAPID code from the "yumi/yumi_hw_rapid/GRASP" folder. Are there any special instructions for setting up the grippers in RobotStudio for this package. I have got the two arms working (with robot studio simulated robot and actual robot) and now trying to get the grippers working but I think I'm missing some instructions or some information.
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