SCHUNK WSG 25, Assembly And Operating Manual

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Operation
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05.00 | WSG 25 | Assembly and Operating Manual | en | 389684
7.15 Command interface
The product supports control via Ethernet TCP/IP and UDP/IP.
Both support a binary communications protocol, which is
described in detail in the document "WSG Command Set
Reference Manual". The command interface is selected and
configured via the product's web interface, via the menu option
Settings -> Command Interface .
7.16 Resetting the configuration
Via the Settings -> System page, the product’s configuration can be
reset to its state on delivery. Should the configuration interface no
longer be accessible, for example if the network configuration is
faulty, or if you have forgotten your password, please contact
SCHUNK technical support.
7.17 Implementing the gripping process
In the following section, the steps are described which are needed
for a simple handling cycle (preposition - grip - release). The
specified commands relate to the command interface. You will find
a detailed description of the commands and parameters in the
"WSG Command Set Reference Manual".
Preparatory work:
Ø
Adjust the “Clamping Travel“ and “Part Width Tolerance“ to
the application.
Description: Gripping, detecting parts to be gripped and
monitoring the gripping [
}
37]
Ø
Perform a test grip.
You can do this for example via the web interface, menu option
Motion -> Grasping
Executing the gripping cycle:
Ø
Check whether the gripper has been zeroed (optional)
If not, run the command "Homing (20h)" and wait until
SF_REFERENCED is set in the status word. Request the status
word with the command "Get System State (40h)". Error? then
error handling.
Ø
Pre-position finger
Execute the command "Pre-Position Fingers (21h)". Parameters:
Opening width and speed. The gripper state changes to
"POSITIONING". Wait until the gripper state is "IDLE". Request
the gripper state with the command "Get Gripping State (41h)".
Ø
Execute the grip
Command "Grasp Part (25h)". Parameters: Nominal gripping
width, gripping speed, gripping force. The gripper state changes
to "GRIPPING". Wait until the gripper state is "HOLDING". Deal
with errors if gripper state is "NO PART FOUND" or "ERROR".