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ROBOTIS-GIT / RH-P12-RN

ROS packages for RH-P12-RN
http://emanual.robotis.com/docs/en/platform/rh_p12_rn/
Apache License 2.0
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Adding new custom ROBOTIS HAND RH-P12-RN to xARM6 #7

Closed SOHAILMBS closed 2 years ago

SOHAILMBS commented 2 years ago

Hi, we've been trying to integrate a ROBOTIS gripper RH-P12-RN with a xARM6. Currently, it is connected with the serial port on the end of the xARM6.

We have tried communicating with the RSH-485 port but have been unsuccessful. We followed this example in which some similar grippers like the Yinshi and Robotiq that were controlled via the RSH-485 here but it doesn't seem to work with this gripper.

Any potential solutions or insights into integrating and using this tool would be highly appreciated.

SOHAILMBS commented 2 years ago

Currently, it looks for a port to open, however, the communication to the gripper is over RSH-485 communication via an ethernet wrapper. So we decided to perhaps send the communication via modbus as in the above example. Maybe you can provide the data frame/ hexa-decimal to control the gripper.

shiba-8ro commented 2 years ago

Hi, I'm sorry, this is not an answer that can solve your issue directly. A Japanese engineer faced with the same issue as you, and he tried to solve it by converting RS485 with STM32. Look at his tweet. For reference. https://twitter.com/k_yone/status/1431836684685955083?s=20&t=HDaNYl4JmtKlF8aoao4agQ

SOHAILMBS commented 2 years ago

Thank your quick reply. I guess we may have to look for a similar solution.