Gripper control via ABB IRC5 controller (and IRB 120 robot): drivers?
I am working with an ABB IRB 120 robot controlled by an IRC5 compact 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.
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.
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?
Or should I provide a direct connection between my pc and the gripper and then manage the gripper implementing a dedicated ROS node?
EDIT: thankyou gvdhoorn, I will work with a two-finger gripper and I am still considering programmable vs simple open-close options. I saw that some grippers provide a RS485 serial interface. 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)?
Thankyou
I think any answer will be greatly dependent on the type of gripper (simple open/close, or 5 finger anthropomorphic with each digit individually controllable, etc) and the interfaces of the grippers control (DIO, full blown fieldbus, some custom protocol, etc).
Yes, but (at least for the package that I'm thinking of) they are currently in closed beta.
If you can expand your question a little, I'll see if it would be possible for you to join the beta program.