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xArm-Developer / xarm_ros

ROS packages for robotic products from UFACTORY
https://www.ufactory.cc/
BSD 3-Clause "New" or "Revised" License
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Adding new custom ROBOTIS HAND RH-P12-RN #102

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.

penglongxiang commented 2 years ago

Hi @SOHAILMBS, (1) have you configured with correct baudrate? (2) What was the sent/responded data and error output? (3) What was the firmware version used? Please provide more information to us, thank you.

rubendsa 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 Did you ever get this working? I'm also looking at potentially using the ROBOTIS HAND RH-P12-RN with an Xarm 7.

Cheers

SOHAILMBS commented 2 years ago

@rubendsa Hi, we tried integrating it but it was taking a lot of time and augmentations due to which we shifted to using a robotiq-2f-140 gripper. Some information that might help you is a tweet by a Japanese engineer who also tried to integrate the gripper courtesy of the Robotis hand devs.

rubendsa commented 2 years ago

Thanks @SOHAILMBS , This helps a lot! Did you by any chance try changing the protocol of the ROBOTIS HAND RH-P12-RN to use Modbus instead of the default Dyanmixel 2.0 Protocol? Something like this:

image

using the Dyanmixel 2.0 Wizard https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/

Thanks again,

-Ruben