Download the URCap file from https://github.com/SAKErobotics/ezgripper-ur/releases
Put ezgripper-ur-X.Y.Z.urcap zip file onto a USB drive for installation into PolyScope.
In PolyScope,
- Goto Setup -> URCaps
- Add (+) the .urcaps file
- Restart
- Goto Program Robot
- Program New, Load or start from template
- tab Structure -> subtab URCaps
- click EZGripper
- move EZGripper to top of program
- tab Command
- click Calibrate ---- this must be done before using the EZGrippers. That is why it is at the top of the program.
- add additional EZGripper instances for open and closing the grippers