Virtual SmartGripper 2 problem - g_ commands not available in RAPID

msalminen

RS version 2020.2 (64-bit) - 20.2.9116.0
I have installed Virtual SmartGripper 2.00 package and Virtual_SmartGripper add-ins v3.56

Using IRB14000 double arm YuMi. RW version 6.11.2019.
In installatin manager 6 adding SmartGripper product(s) and in options/Application tab check the SmartGripper.
Adding Virtual SmartGrippers in to the station and attaching SC's to the YuMi gives warnings for both smartGrippers...
 - Warning PyrokratiaBallAssembly: IO Unit Hand_R was not Enabled.
 - Warning: StationLogic didn't connected successfully between: PyrokratiaBallAssembly and SC_SmartGripper_1

SmartGrippers virtual SC works ok in station through SC properties. except time to time fingers stops moving with fingerposition_slider. Only RS close - restarting correct this. 

The problem is that in RAPID the SmartGripper g_ commands are not available to make the program.


Regards,
Mika

FlorianKnecht

Dear msalminen,

Did you watched the tutorial video for setting up the Controller for double arm YuMi?
You would also have to I-Start the Controller.
You can download all tutorial videos from the original RobotStudio Forum Post.

Steps to follow:
-> Install the SmartGripper AddIn 3.56
-> Install the Virtual_SmartGripper-2.0
-> Close & Open RobotStudio -> Empty Station -> Import Virtual_SmartGripper (now you should see warnings that modules were replaced, if they were not updated already)
-> Setup the IRB14000 Controller as shown in the video

---

SmartGrippers virtual SC works ok in station through SC properties. except time to time fingers stops moving with fingerposition_slider. Only RS close - restarting correct this.
Thanks for the information, I heard of this, but for the moment it was not reproduceable. - If you know how I can reproduce this issue, please let me know, so that I can eliminate it. -> Did reinitialization of the Gripper work in this case?


Best regards,
Florian

msalminen

Yes I have watch the video and follow it. I have try to do couble of different controller following the video. 
Yes I have done th I-Start also
Ye I have downloded the videos and watch them.

I have follow those steps. Always same result... Still don't work.

The reinitialization did'n help. Only restarting the RS will get the grippers works again.

Mika

FlorianKnecht

Dear Mika,

I will communicate to you via email, we can have a short call to find this issue on your pc if you want.
I will update the solution here if we were successful.

Best regards,
Florian

msalminen

Thanks Florian.
We had Teams meeting and problem is now found and solved.
Mika

FlorianKnecht

Dear Mika,

you are welcome!

###
Problem Description:
-> Before I-Start IRB 14000 controller, a user creates a backup. 
-> User needs to I-Start the System to load the code of the RW AddIn SmartGripper 
-> Issue: Restoring a Backup afterwards, the configuration Files were loaded as well, Device of SmartGripper isn't part of them.
Actual Solution:
-> Manually loading Rapid Modules from the Backup / from a stored Program
-> Manually loading the configuration parameters (*.cfg files)

Best regards,
Florian