Flange x2 port usage

g.dechambrier · Jan 14th 2019

Hi,

There is a port on the iiwa flange named x2. I am able to connect the output of a optoforce FT sensor to it. I would like to know if it is possible to stream the force torque data through the x2 connection on the flange.

I would appreciate any help on how to go about doing this.

**panic mode** · Jan 14th 2019

there are many flanges.... some of them have X2. which one is yours?

**SkyeFire** · Jan 14th 2019

As Panic says. Also, what connection does your FT sensor require?

See attached PDF.

g.dechambrier · Jan 15th 2019

I have a "Media flange Touch pneumatic" and I am able to connect the optoforce to the "Additional EtherCAT".
The connection has 4 pins, see the attached pdf of the force torque sensor.

g.dechambrier · Jan 23rd 2019

Here are some more pictures of the connections.
It seems perfectly fine to connect them. I am just not sure how to extract the information of the sensor via the IIWA.

Seulki · Jan 29th 2019

X2 on LBR iiwa MediaFlange is using EtherCAT interface.
Coupled inside to go to the controller with X650-651 cable.
If you wish to use this interface, first your device has to provide EtherCAT interface and LBR be compatible with it.
If so, you can get device description file (.xml) from the device provider and map them with KUKA Workvisual.
Mapping is quite well explained on your KUKA_SunriseOS_version_SI_lang manual.

Flange x2 port usage

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