Discussion

Left ArrowBack to discussions page
Robotiq_CustomerRobotiq_Customer Posts: 123 Apprentice
edited June 2016 in Troubleshooting

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?

Tagged:

Best Answer

Comments

  • Etienne_SamsonEtienne_Samson Posts: 418Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy

    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.

    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]
  • Etienne_SamsonEtienne_Samson Posts: 418Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy

    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

    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]
  • Robotiq_CustomerRobotiq_Customer Posts: 123 Apprentice

    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!

Sign In or Register to comment.
Left ArrowBack to discussions page