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Home > Robotiq Products > Using Robotiq 3-Finger gripper with KUKA iiwa R800 and Touch pneumatic flange
ecai

Dear Robotiq community,
we recently got a KUKA iiwa R800 with Touch Pneumatic flange and we are currently buying a Robotiq 3-Finger gripper setup for Ethercat plus Wrist adapter plate and the AGS-IIWA-CABLE-KIT-B.
In the thread https://dof.robotiq.com/discussion/76/how-to-install-the-robotiq-3-finger-gripper-on-kuka-iiwa I have read that the CABLE-KIT-B, which is suited for pneumatic flanges, has:
- M12 5 pins female power connector (X36)
- 20cm M8 cable (4 pins) for communication (Modbus TCP, EtherCAT) (X2)

We do have the X2 port on the Touch Pneumatic flange so the communication should be ok.
However, the Touch Pneumatic flange has no X36 port, only X2 (EtherCAT), M8-4pole)  and X3 (Power, with M12 connection 17-pole).

So I am worried that we won't be able to connect the 3-Finger gripper power to the flange.
Does the CABLE-KIT-B have a cable for X3 or is it somehow compatible with both X36 and X3?

Or do we need to assemble a cable ourselves or buy it somewhere?

I think KUKA gave us an X3 to nothing cable (i.e. a cable with a connector for X3 on one end, 17 wires, and nothing on the other end).

Thanks for your help!
bcastets

zoom

Our internal documentation says that for pneumatic flange the B kit should be use but require some customisation. The power has to be taken from the x21 connector with a custom connection.

I don't see X3 connector on pneumatic flange in Kuka documentation.

If you need further assistance, you can contact support@robotiq.com.
ecai

Dear @bcastets,
thanks for the answer.

Our flange is not the "pneumatic" one but the "touch pneumatic", which is a different model and it has only the following ports:
1 Air 1 air connection
2 Air 2 air connection
3 X3 power supply, digital inputs/outputs
4 X2 EtherCat

Here is the drawing from the KUKA docs:

zoom

Upon reading again the thread here, I noticed that the B kit does not give a power cable but just a connector:
AGS-IIWA-CABLE-KIT-B
3F IIWA Cable Kit (pneumatic flange)
- M12 5 pins female power connector (X36)
 - 20cm M8 cable (4 pins) for communication


Is that correct?


The M12 5 pins female actually matches the power connection on the gripper (if I am not mistaken), so I suppose we have to customize the "X3 to nothing" cable we got from KUKA and add the M12/5pins connector on the empty side, so that we can connect from X3 to the gripper power port.

Which of the 17 wires of X3 should we use?
The KUKA Media Flange manual lists the following for X3 port:
1 MF_Output_0
2 MF_Output_3
3 MF_Input_3
4 MF_Input_4
5 GND_24V
6 GND_24V
7 Output_VCC
8 Output_VCC
9 Output_VCC
10 MF_input_0
11 MF_Output_1
12 MF_Output_2
13 MF_input_2
14 GND_24V
15 Output_VCC
16 MF_Input_1
17 GND_24V
Previous page of the flange manual says "Note: The 4 Output_VCC and GND_24V pin pairs must be connected."

The Robotiq 3-finger gripper manual says the 5 pins on its port are used as following:
1 RS485 GND
2 24V
3 0V
4 RS485+ UNUSED
5 RS485- UNUSED

So I suppose we should just connect the first 3 pins on the gripper end (4 and 5 being unused).

Which of the 17 wires coming from KUKA/X3 should we use?




bcastets

For touch pneumatic flange the KIT B is the good one. The power have to do taken from the x3 connector with a custom connection.

Yes, you have to connect the 3 first pin of the gripper to X3.

I am not familliar with Kuka Iiwa but my understanding is that it is necessary to have a power supply connected to the 4 Output_VCC and GND_24V pin pairs to be able to use it. I imagine that by default there is nothing that bring the power and ground to those pins. It probably need to be connected inside the robot. You could get advice fronm Kuka on this question.

I guess you can use any of the Output_VCC and GND_24V to connect the gripper.
ecai

Thanks @bcastets !

The X3 is already powered - there is an internal cabling that connects the X3 to a port on the base of the robot (which they call X651). X651 is then connected to X650, which is a port on the robot controller/cabinet.
Indeed, on page 14 of the media flange manual they say:
The media flange Touch pneumatic is supplied with power by the ro-
bot controller. No external power or data source is required. Data ca-
ble X650, X651 is required.
(I think this cable also carries the Ethercat signals from X2 to the controller).

I guess you can use any of the Output_VCC and GND_24V to connect the gripper.
Ok, so I would connect Output_VCC to pole 2 24V of gripper and GND_24V to 1 RS485 GND.
What would I connect to pole 3 0V of the gripper?
(Maybe it's obvious but my ignorance on electrical things shows).

You could get advice from Kuka on this question.
Yes, good idea, I'll open a support ticket at Kuka to double check if it sounds ok from their side as well.
bcastets

0V and RS485 GND should be connected to GND_24V