Hi guys,
I want to use a WSG 25 Gripper attached to my KUKA Iiwa. So I need so send commands to the gripper with Sunrise. I tried to etablish a TCP/IP connection since the gripper has its own IP and Port.
Till now it doesnt work at all. Can someone help me?
Heres a part of my Code:
Socket s = new Socket("172.31.1.149", 1000);
System.out.println("Socket s");
DataOutputStream dos = new DataOutputStream(s.getOutputStream());
System.out.println("out");
DataInputStream dis = new DataInputStream (s.getInputStream());
System.out.println("in");
byte[] bytes = hexToBytes("AAAAAA200000");
System.out.println("hexTobytes");
dos.write(bytes);
System.out.println("write");
s.close();
Best regards