Unfortunately, we are having some issues integrating the grippers (2-Finger 85). We did figure out that the EtherCAT description file given on the support page seems to be incompatible with our controller version ("3.0 (prior to June 2014)").
The documentation for our controller says the gripper has 6 input and output bytes whereas the description specifies 16, which is consistent with the most recent documentation. Is there anywhere we can access the legacy version of the EtherCAT description?

Hi, Our records show that your serial number is K-1224. You should use the instruction manual found in the archives for generation 3.X of the controller along with 2.X of the Gripper. I checked and on page 23 it does say EtherCAT 6 byte in 6 byte out but I think it's a mistake, all our product have been running 16 / 16 for a while, although most of those byte are not used with the 2-Finger. I'll confirm this with the software engineers.

I just checked the source code and it is not an error, EtherCAT does use 6 / 6 with your software revision. Register mapping as follows (details in the link I sent you previously) : Register Robot Output / Functionalities Robot Input / Status Byte 0 ACTION REQUEST GRIPPER STATUS Byte 1 RESERVED RESERVED Byte 2 RESERVED FAUTL STATUS Byte 3 POSITION REQUEST POS REQUEST ECHO Byte 4 SPEED POSITION Byte 5 FORCE CURRENT

Hi, Since the actual XML file is meant for the 16/16, here is the old XML file we used with the 6 byte in and 6 byte out.

Hello Etienne, We had to do a bit of debugging but the gripper is working great with the new EtherCAT file now. I'll let you know if we run into any additional issues but for now everything is in good order. Thanks so much for the quick help!