I saw that some grippers provide a RS485 serial interface. I will work with a two-finger gripper and I am still considering programmable vs simple open-close options. In such case, would you suggest me to connect the gripper directly to my pc (via RS485-USB connection) or to try and connect the gripper to the IRC5 I/O ports and then control the IRC5 output via the Ethernet connection (that I already use to control the robot positioning)? Or should I provide a direct connection between my pc and the gripper and then manage the gripper implementing a dedicated ROS node?ĮDIT: thankyou gvdhoorn, I will work with a two-finger gripper and I am still considering programmable vs simple open-close options. In other words: is it possible to connect the gripper wires directly to the port on the upper arm of the robot and control it in the same way I do with the robot joints? Do drivers exsist for I/O of the IRC5? Now I want to mount a gripper (I have not choose the model yet) on the wrist and I am wondering if there is a chance to connect and control the gripper directly via the IRC5 controller. I was able to correctly install the ABB drivers and to move the robot using the provided ROS packages, via the Ethernet connection between my pc and the IRC5. I am working with an ABB IRB 120 robot controlled by an IRC5 compact controller.
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