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Catherine_BernierCatherine_Bernier Posts: 144 Handy
edited April 2016 in Integration
This how-to is intended for the Robotiq 3-Finger 3.X.X, Kuka IIWA media flange and Kuka Sunrise Cabinet

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.

Enjoy the wire free Robotiq 3-Finger gripper!

Catherine Bernier, Jr. Eng. 


  • SamNewSamNew Posts: 6 Apprentice
    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_LevasseurDavid_Levasseur Beta Tester Beetle Posts: 182 Handy
    @jproberge, do you think you could assist @SamNew please?
  • jprobergejproberge Tactile Sensor Beta Testers Posts: 41 Crew
    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 
    [email protected]
  • bcastetsbcastets Vacuum Beta tester Posts: 695 Expert
    We have some time to time people asking picture of Kit A and Kit B.

    I share it here below:

    3F IIWA Cable Kit (electrical flange)
    - 20cm M8 cable (3 pins) for power (X36)
     - 20cm M8 cable (4 pins) for communication (Modbus TCP, EtherCAT) (X2)

    3F IIWA Cable Kit (pneumatic flange)
    - M12 5 pins female power connector (X36)
     - 20cm M8 cable (4 pins) for communication (Modbus TCP, EtherCAT) (X2)

  • aswinkaswink Unconfirmed Posts: 1 Recruit
    I have the gripper connected to the KUKA iiwa and I am able to control the gripper. 
    At the moment, I have ROS Subscriber, that receives a string message such as open/close and the 3-finger gripper manages to open /close the gripper. 
    However, as there are no joint state messages from the robot, It is hard to open or close the gripper via Moveit ROS package. 
    Do you by any chance have a KUKA Sunrise workbench application for the control of gripper using ROS Move it package? Or would you be able to provide one for the same, please?

    Feel feel to reply here in case you need more information. 
  • bcastetsbcastets Vacuum Beta tester Posts: 695 Expert
    We have a ROS package for the 3F but nothing specific for Kuka.
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