Description
10
01.00|WSG |en
Input Registers (WSG to PLC)
The input register space is transferred from the WSG to the Profi-
bus Master or Profinet Controller each cycle. It contains the cur-
rent gripper parameters, its operating and grasping state, user de-
fined flags as well as a status code representing the result of the
last command.
grouping Input Register
Byte Number Register Name Description
0
GSTATE
Grasping State
These flags encode the current grasping state as below
and are intended to control and monitor the grasping
process:
Bite Index:
Name
Description
Bit 0:
IDLE
Waiting for new
command
Bit 1:
GRASPING
Fingers moving to-
wards the part
Bit 2:
NO_PART
No part found
Bit 3:
PART_LOST
Part was grasped
but then lost
Bit 4:
HOLDING
Holding a part
Bit 5:
RELEASING
Fingers moving
away from the part
Bit 6:
POSITIONING
Fingers moving due
to a pre-position
command (MOVE)
Bit 7:
ERROR
An error occured
1
OF
User Flags (output)
Freely programmable flags that can be used to interact
between the PLC code and a running WSG Script.
Bit Index:
Name
Description
Bit 0:
OF1
Output User Flag 1
Bit 1:
OF2
Output User Flag 2
Bit 2:
OF3
Output User Flag 3
Bit 3:
OF4
Output User Flag 4
Bit 4:
OF5
Output User Flag 5
3.2
