How to control a Robotiq gripper on Yaskawa

    Hello everyone!

    I am facing some difficulties controlling the Robotiq gripper on the Yaskawa YRC1000. I am trying to open and close the gripper using the yaskawa controller but i haven't had any success. The gripper has a controller that I try to connect to the robot controller via ethernet, and program DOUT commands to see if the gripper is working, but so far nothing has worked. Has anyone programmed a gripper on a Yaskawa that could help/guide me with this connection?

    thanks for all!

  • Lemster68 December 18, 2023 at 1:56 PM

    Approved the thread.

    Hello everyone, following the answers to your questions:

    1. Which controller have gripper?

    It is a Robotiq Universal Controller

    2. Which type of gripper you use?

    I am using Robotiq Hand-E

    3. What do you mean by ethernet, which protocol?

    EtherNet/IP

    Mike01TJ Thank you very much for this pdf! It is really userful! following the instructions in this pdf, I have some questions:

    1. will I need a smart pendant to work with the gripper or just the controller is enough to control the gripper?

    2. I am configuring the IP to conect the two controllers, but in my pendant, the Ethernet IP/CPU option still remains as "not used". I configured it as follows:

    Controller YRC1000 robot IP: 10.7.3.42

    Controller robotiq universal IP: 10.7.3.45

    thak you for your help!!

    The gripper will function with either pendant, they just wrote their instructions with the assumption you have a smart pendant. Looks like the grip/ungrip is actually a job call with arguments determining the action.

    The EtherNet/IP function will need to be enabled and set up to communicate with the Robotiq controller. Here is the manual for EtherNet/IP on the YRC1000 controller.

    178651-1CD

    You can always search the Motoman website for any of their documentation.

    Motoman doc list

    Thank you Mike01TJ!

    I followed the instructions, but I think something is wrong, the ethernet/IP CPU option still remais as "not used". :frowning_face: In the manual, they say to "Contact Yaskawa if this is set to “NOT USED""

    I am going to contact them, but you know why it doesn,t not recognize my connection? (ping is working with the configuration I send here)

    BR

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