How to Install the Robotiq 2-Finger 85 Gripper on Kuka IIWA
/ Most recent by Annick_Mottard
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 :
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.