Hi!!I has been a while since I have been thinking gripper issues.
As far as I unaderstand and remember correct X2 socket of the flange is meant for connecting etherCAT devices.Anyway, I am curious to hear robotneuling's integration proceeds.
Hi Paavo, the gripper works fine :).
We wired the gripper by using the X2 and X21 connectors of the flange.
We used an EtherCAT Coupler (EK1100) and terminals (EL1018 and EL2008) to address the inputs/outputs.
Mapping (I/O configuration) was done in WorkVisual (see attached). The I/O configuration was then exported to the Sunrise project.