How I can to controller the 3 finger adaptive gripper through of python

voz_aranda

I have a previous version gripper Ethernet/IP and it is not possible change the communication protocol. I'm trying to read/write using the library cpppo. I can read with this code:

from cpppo.server.enip import client
from cpppo.server.enip.getattr import attribute_operations

HOST = "192.168.1.12"
TAGS = ["@4/101/3"]

with client.connector(host=HOST) as conn:
    for index, descr, op, reply, status, value in conn.synchronous(
        operations=attribute_operations(
            TAGS, route_path=[], send_path='' )):
        print(": %20s: %s" % (descr, value))

output (deactivate gripper): :Single G_A_S     @0x0004/101/3: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 , 0, 0, 0, 0, 0, 0, 0, 0]
output (activate gripper): :Single G_A_S     @0x0004/101/3: [49, 0, 0, 0, 6, 0, 0, 6, 0, 0, 6, 0 , 0, 137, 0, 0, 0, 0, 0, 0]
These are ROBOT INPUT/STATUS (just to read in simple control mode): Gripper status, Finger A position, Finger B position, Finger C position and Scissor position.

For the ROBOT OUTPUT/FUNCTIONALITIES I can read the registers with the same code just change the TAGS = [ "@4/100/3"] for the instance 100.
output (deactivate gripper): :Single G_A_S     @0x0004/100/3: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 , 0, 0, 0, 0, 0, 0, 0, 0]
output (activate gripper): :Single G_A_S     @0x0004/100/3: [1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 , 0, 0, 0, 0, 0, 0, 0, 0]
But I can't write, I am try without success with this examples 1 y 2.

[Deleted User]

Thanks to your request.

Unfortunately, we have limited support available on the Ethernet/IP programming issue. You can refer to the user manual of the 3F:  http://robotiq.com/support/3-finger-adaptive-robot-gripper/downloads-instruction-manual

I have also attached the latest version of the Step-by-Step procedures to change the communication protocol on the 3F gripper.

Hope this will help,