Integrating FT300 with KUKA AGILUS

solaris602000

We are thinking to integrate our KUKA KR6 R900 sixx with FT300. Does anyone know what are the best ways to program the FT 300 along with KUKA Robor?
And is it possible to integrate it using ROS?

louis_bergeron

@solaris602000

FT 300 uses a standard Fieldbus protocol Modbus RTU on RS-485.  You will probably want to add a protocol gateway to convert it to EtherCAT.  You will then have to map the FT300 registers in the EtherCAT network.  You will then have an access to the Forces and torques values in KRL like you will do with an analog input device on EtherCAT.