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Catherine_Bernier
Posts: 134 Crew
How to Install the Robotiq 3-Finger Gripper on Kuka IIWA |
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/ Most recent by jproberge
in Integration
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3 comments |
Catherine_Bernier
Posts: 134 Crew
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.
Tagged:
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]