Hi,everyone!
I want to connect my Robotiq gripper to the IIWA's flange.
Info of my IIWA:
LBR iiwa 7 R800;
Sunrise Workbench Version: V1.13;
WorkVisual Version: 5.0.2.
Media Flange type: Touch Electrical
Communication method of motion control: FRI
Info of my gripper:
Robotiq 2F-140
The manual of the gripper can be easily found in Google.
Question:
Can I connect my Robotiq gripper to the flange's X2 port(EtherCat port), and then connect the X65(also an EtherCat port) of the cabinet to my computer to control the gripper?
My connection plan is as follows:
(1) As the Robotiq gripper enables RS-485 communication by default, I want to convert RS485 signal to Ethernet signal by a converter showing in Fig. 1.
Fig .1 RS485 - Ethernet converter
(2) Then I connect the Ethernet pins(RX±, TX±) to the X2 port(4 pins as well) of the flange.
(3) Connect X65 port of the cabinet directly with a net cable to the computer where i have the EtherCat drive to control the gripper.
I wonder that whether what i do above is feasible or not.
According to IIWA's brochure, some jobs should be done in the WorkVisual if I want to use X2 port. However I cannot find out how exactly to do the configuration in WV. If my plan is feasible, how do i configure the X2 port in WV?