Integration of Robotiq gripper on Fanuc CRX

bcastets

Have you ever integrated Robotiq gripper on Fanuc CRX ?

I would like to share with you some work done by Fanuc US team.

They made an integration using the Karel routine attached to this post.

Here below are the comments of the developer who made this integration:

Robotiq_cmd.pc takes 3 arguments, arg1 is position, arg2 is speed, arg3 is force.  Each should be an integer values 0-255 (0 is open/minimum, 255 is closed/max).  Currently this is open loop so there is nothing that listens for a status from the gripper after the command was sent. 

Verify these in the System Variables:
* You need to update $TLIF to get voltage to the EOAT.  Set $TLIF.$POWER_VOLT[1] = 2 for 24V supply.  Power cycle to apply it.
* Set $TLIF.$BAUD_RATE to 3
* Set $TLIF.$DO_MODE[1] and [2] = 0
* Power cycle. 

The connection is made using modbus RTU at the wrist.

The bolt pattern of Fanuc CRX is same as UR: 

50 mm PCD with 4 x M6 threads

Our eSerie serial coupling (GRP-ES-CPL-062) can be used to make the connection at the wrist. Connector and pinout match Fanuc CRX.

Please share your integration experience on this post !

bcastets

I got feedback that a software license would be required to compile the Karel routine.

bcastets

I am wondering about the electrical connection at the wrist of the robot. CRX manual illustration of the connector is difficult to understand.

Here below is eSerie serial coupling pinout:


Here below is CRX EE interface pinout:


Connector datasheet:
https://ca-en.alliedelec.com/m/d/741df2a90ab8d03ba5c3068f60cf8f66.pdf

bcastets

I got confirmation that UR eSerie and Fanuc CRX have the same wrist connection.

The drawing of the wrist connector in Fanuc manual is a bit confusing with the pin 8 indicated on connector index instead of the center but it is the same connector.

bcastets

Another way to integrate Robotiq gripper on Fanuc CRX is to use the Robotiq IO coupling which give possibility to control the gripper from wrist IO.

This would work only is CRX avec the same type of IO than UR CB.

• Digital Output should be NPN
• Digital input should be PNP

I could not found information about the type of IO at the wrist of the robot.

bcastets

Here is an example of 2F integration on Fanuc CRX:
https://wilderdx.com/