how to communicate gripper hand-e ethernet ip to kr c4 compact kuka controller?

vic 2019-01-24

i want to communicate between gripper hand-e Ethernet ip and kr c4 compact kuka controller port Ethernet ip, in workvisual add eds Ethernet ip file of hand-e, i mapped inputs and outputs, the com led is stable but i dont know how to actívate the gripper.

David_Gariepy 2019-01-25

Hello @vic,
If you mapped the registers, you'll then be able to control the gripper using the commands described in section 4.7 of the manual.

Section 4.7.6 shows an example of a gripper activation command:

zoom

vic 2019-01-25

thanks David_Gariepy,

i will Check that the inputs and outputs are correctly mapped and allow me to activate and deactivate

vic 2019-01-28

can i use kuka krc4 user tech for robotiq gripper post by David_levasseur to configure hand-e gripper in kr c4 compact kuka controller Ethernet ip ?

David_Levasseur 2019-01-29

@vic, it is said that it will work with any model of krc4 controller, version 8.3 and up. As for the Hand-E gripper, the communication and registers and the same as for the 2-Finger Grippers.

vic 2019-01-29

thanks David_Levasseur.

one last consultation.

Is the following configuration correct?

i mapped each input nic 50-re/eis with 16 bits input kr c4

for example:

000:0001:0001 input(Input_Data) with E240#G-E255#G 16 bits.

David_Gouffe 2019-01-29

Hi,

I may suggest you take a look at the EDS file. This file is a typical pre-filled mapping to talk with a specific product.
In the support section of the Robotiq web site for the gripper "https://robotiq.com/support/hand-e-adaptive-robot-gripper" there is a sub-section called "Software". It contains a sub-section called "Universal Controller Configuration" that contain configuration files. For Ethernet/IP communication, the file is an EDS.

The EDS can be imported to be used on the main brand of industrial equipment and helps to configure communication between equipment on the field bus.

The use of EDS will be specific to the system you use. In your case the Kuka KR C4 controller. It usually will be covered and supported by Kuka.

This is about as much as we can help on this topic.

Regards,

David Gouffé
Integration Coach
Coach en intégration