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Catherine_BernierCatherine_Bernier Posts: 133 Crew
edited April 2016 in Integration
This how-to is intended for the Robotiq 2-Finger 85/140 3.X.X, the Robotiq Universal Controller 4.X, Kuka IIWA media flange and Kuka Sunrise Cabinet

What you need :

  • Robotiq 2 finger 85 gripper

  • Coupling for the gripper AGC-CPL-062-002

  • Communication cable CBL-COM-2067-10 (for connection with the controller)

  • Robotiq Universal Controller UNI-CTR-001-ECAT

How to do it :

Mechanical Assembly

  • Install the coupling of the gripper on the Kuka IIWA wrist.

  • Install the gripper on the coupling.


Electrical and Communication installation

Kuka’s communication protocol is EtherCAT. So you need to convert the RS485 signal to EtherCAT.

  • Plug the Robotiq gripper's pigtail to the communication cable.

  • Plug the combicon on the other end of the communication cable in the Robotiq controller.

  • Use the X65 EtherCAT port on the Kuka Sunrise cabinet to connect to the Robotiq controller

  • Configure the inputs/outputs in WorkVisual

  • And you are good to go in Sunrise OS V1.5.


To use the Kuka IIWA media flange and in-arm wiring, see this discussion.

Catherine Bernier, Jr. Eng. 
Application Engineer at Robotiq
c.bernier@robotiq.com
https://www.linkedin.com/in/catherinebernier

Comments

  • tdantdan Posts: 2 Recruit
    Could you please explain the following step in detail
    • Configure the inputs/outputs in WorkVisual
    I have added the Robotiq EtherCAT configuration file to the WorkVisual DTM catalog. Having trouble with the I/O mappings. Appreciate all help. Thanks!
  • Annick_MottardAnnick_Mottard Posts: 128 Handy
    Hi @tdan, I opened a support ticket through this post. 
    Annick Mottard
    Product Expert
    Robotiq
    a.mottard@robotiq.com 
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