Operation
05.00 | WSG 25 | Assembly and Operating Manual | en | 389684
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Ø
Handling the part
Periodically request the gripper state and check whether it is
still "HOLDING". Deal with errors for "PART LOST" or "ERROR".
The periodical requests will not be required if spontaneous
messages (see "WSG Command Set Reference Manual") have
been activated.
Ø
Releasing the part
Command "Release Part (26h)". Parameters: Opening width,
speed. The gripper state changes to "RELEASING". Wait until the
gripper state is "IDLE". Deal with errors on "ERROR".
Ø
Start again at 2.
Dealing with errors
What to do in case of an error actually depends a lot on the
application, but in general requires the user to do something. The
following section gives some hints:
Ø
Does the returned status code differ from E_SUCCESS?
Evaluate the returned status code and eventually request user
intervention.
Ø
Gripper status „ERROR“
Request user intervention. Also: Test whether SF_FAST_STOP is
set in the status word. If it is, then request acknowledgment.
Ø
Gripper status „NO PART FOUND“
Depending on the task, jump over the processing and fetch a
new part.
Ø
Gripper status „PART LOST“
Part lost. If necessary, abort processing and fetch new part or
request user intervention.
NOTICE
Material damage due to insufficient lubrication!
In the case of long-term short travel, it is possible to dry the
product.
•
Every 1000 movements or at least once per day the product
should be moved through its full range of travel.
