Scenario

You have now setup your hardware of the robot and want to mount a gripper to the robot flange and control it with the gripper button and node in TMFlow.

In this article we are adding the Robotiq: 2F-85 & 2F-140 Adaptive Grippers.

Here is the list of the current Robotiq adaptive grippers (i.e. ''ADG'') TM Components to install on TM Robots: 

• GRIPPER_ROBOTIQ_ADG_V001_SET.Component = SET the Gripper (Speed, Force, Position)
• GRIPPER_ROBOTIQ_ADG_V001_CLOSE.Component = CLOSE the Gripper (Action)
• GRIPPER_ROBOTIQ_ADG_V001_OPEN.Component = OPEN the Gripper (Action)
• GRIPPER_ROBOTIQ_ADG_V001_CHANGEGRIPPER.Component = CHANGE the address of the Gripper/dual Gripper  

Solution

Getting started:

1. Download the TM Series Component package. Go to robotiq.com/support, click Select product > 2F-85 and 2F-140 Grippers > Omron TM > Software > Gripper Software > DOWNLOAD ZIP. 
2. Unzip the file at the root of a blank USB stick 
3. Rename the USB stick "TMROBOT"

    4. Insert the USB stick device in the robot controller 

    5. In TM Flow (robot software), click the triple bar icon, then select System 

    6. Click Import/Export 

    7. Select the Import tab. 

    8. Select TMComponents, then Press OK 

    9. From the Import/Export window, select the Component tab. Click on each component             you want to import. It is moved under the "Selected files" list. 

    10. Once all required components have been selected, click the Import button in the                     bottom right corner. 

    11. Click the triple bar icon, and select Setting

     12. Click Component. 

    13. The "Component List" window is displayed. To enable a component from the list, click             on its corresponding radio button. 

    14. Create a new project or open an existing project, and locate the Gripper components            in the navigation pane 

    15. Done.