Hello, we have purchase a 3 finger gripper (ethercat) for our kuka iiwa, is it possible to control the gripper using ROS after I configure it using Workvisual and Sunrise OS?
David_Levasseur
@jproberge, do you think you could assist @SamNew please?
jproberge
Hello @SamNew !
You indeed can control our 3-Finger Adaptive Robot Gripper with ROS using the Ethercat protocol. However, just to be sure I properly understood your question, will there be two different nodes ( 1-ROS and 2-Workvisual) on the same Ethercat network trying to change the gripper's parameters?
Best regards,
Jean-Philippe Roberge,
ROS Package Developper / Maintainer
j-p.roberge@robotiq.com
bcastets
What you need :
Robotiq 3-Finger gripper
Coupling for the gripper AGS-APL-157
Robotiq IIWA cable kit (electrical or pneumatic media flange) AGS-IIWA-CABLE-KIT-A/B
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 the built-in controller of the 3-Finger gripper converts the signal from RS485 to EtherCAT.
Connect the M8(electrical)/M12(pneumatic) cable for the power to the gripper and to the flange. (X36)
Connect the M8 communication cable to the gripper and to the flange.
Configure the inputs/outputs in WorkVisual
And you are good to go in Sunrise OS.