How to Install the Robotiq 2-Finger 85 Gripper on Kuka IIWA

Catherine_Bernier

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.

tdan

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_Mottard

Hi @tdan, I opened a support ticket through this post. 

DEV

Hi Catherine, but what about the software part. does robotiq have a  software that can be integrated into kuka