Good morning to all,
Actually, I have a KR 3 Agilus with a KRC4 Compact controller and KSS 8.6.3. Recently, I get a OnRobot RG2 Gripper (RG2 Gripper) but I have some problems communicating the gripper with the controller.
Since I don't own the EtherNet/IP industrial network protocol to operate with the gripper, I decided to use the OnRobot WebLogic communication which allows simple Digital I/O communication to be used to operate the gripper. For example:
- when one of the robot digital outputs is set to HIGH, then the RG2 gripper opens to 77mm.
- or when the force values measured with the HEX-E QC reach 50N, the Compute Box sends a HIGH digital output to the robot.
The OnRobot Compute Box has 8 digital inputs and 8 digital outputs that can be freely configured for any “logic”. These “logics” can be programmed through the OnRobot Compute Box's web interface called Web Client. It requires only a normal computer with a browser.
My problem is that I don't achieve to communicate the gripper with the controller. As the manual says (which I attach in the thread) in section 3.3.2, I configured the Compute Box in PNP mode and I used the supplied connectors to connect the Compute Box with the KUKA controller. I have only connected the digital inputs and outputs to the robot X12 connector, but my main question is:
- Do I really need to connect the GND to be used to have a common ground between the robot and the gripper? And if so: Where can I connect it?