How to connect external device by EtherCAT?

t310096

    Our Robotiq device type is EtherCAT and its serial number is K-1479. The serial number of gripper is C-3753. Connecting Robotiq's controller and gripper is RS485, which connection is no problem. However connecting Robotiq's controller and PC is a UTP network cable, which connection we do not know how to do. Does anyone have experience of connecting Robotiq's controller and PC by TwinCAT?

Etienne_Samson

@t310096 I have no experience with TwinCAT but know that your Robotiq controller use a standard embedded module for the EtherCAT communication from Hilscher Gmbh.

You can find the device configuration parameters in it's manual here: http://support.robotiq.com/display/RUC/Real-time+Ethernet+communication+protocols

We also have an XML configuration file here: http://support.robotiq.com/display/Home/Universal+Controller

And finally you can find the details from Hilscher here: http://www.hilscher.com/products/product-groups/embedded-modules/dil-32-communication-ic/nic-50-reecs/?&techCats=8

t310096

Dear @Etienne_Samson

Thank you very much for help. Unfortunately, I did not succeed. I like to ask you, if I do not use TwinCAT software. There are other software can be connected to a computer with Robotiq controller? Because of we want to use a PC to control the system of Robotiq controller and Robotiq 2F-85 gripper. Thank you.

Etienne_Samson

@t310096 when we want to communicate with EtherCAT devices using a PC we use gateways to convert the signal to ModbusTCP (you can have Modbus TCP using a standard ethernet network card of any PC).

You could have a Gateway for Modbus TCP master to EtherCAT slave like this: http://www.hilscher.com/products/product-groups/gateways/for-the-control-cabinet-ip20/high-end-gateways/nt-100-re-enecsomb/?&techCats=8,13

SamNew

Hello, we have bought a robotiq 3 finger gripper recently. Serial number is S-413,  communication protocol is EtherCAT. I have installed it on kuka iiwa robot arm and I powered it using media flange of kuka iiwa. Do you know where I can find an external card to convert EtherCAT to Modbus TCP signal? I want to use my laptop to control the gripper using ROS message based on this tutorial http://wiki.ros.org/robotiq/Tutorials/Control of a 3-Finger Gripper using the Modbus TCP Protocol