Context
When you want to control the gripper on a non UR Robot, you will need to control the gripper by using the registers.
Our grippers are Modbus RTU slave units with a default ID of 9. If your robot doesn't use Modbus RTU as a communication protocol, you will need a Universal Controller configured in the communication protocol that your robot uses. Here are the different configurations available:
- CANopen (UNI-CTR-001-CANO)
- DeviceNet (UNI-CTR-001-DNET)
- EtherCAT (UNI-CTR-001-ECAT)
- Ethernet/IP (UNI-CTR-001-ENIP)
- Modbus TCP (UNI-CTR-001-MTCP)
- ProfiNET (UNI-CTR-001-PNET)
We also have different EDS files:
Knowledge
To control the gripper by using the registers, you will need to have a look at the documentation of the product. You can find it here: https://robotiq.com/support
Here is the logic control of the gripper :
In the section Registers, you will find the register mapping :
And then the details of each register. You have some output functions to control the gripper and also some input functions to receive some information about the gripper.
The programmation is not supported by Robotiq but you have all the information needed on the documentation. You will find the control logic example to respect for your programmation :
In the end, you have also some examples of how to read or write on the registers.
