SCHUNK WSG Series Software Manual Download Page 21 | Manualshive

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Commands

01.00|WSG |en

21

Grasping State

During finger movement, the grasping state is set to RELEASING.
When the end position is reached (or in case of an error), the
grasping state is set to IDLE.

System State

Various transitions will occur. You should use the grasping state to
evaluate the current state of the grasping process, unless you have
very special requirements.

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Summary of Contents for WSG Series

Page 1: ...original software manual Fieldbus Interface WSG Software manual Superior Clamping and Gripping ...

Page 2: ... 09 2015 en SCHUNK GmbH Co KG All rights reserved Dear customer congratulations on choosing a SCHUNK product By choosing SCHUNK you have opted for the highest precision top quality and best service You are going to increase the process reliability of your production and achieve best machining results to the customer s complete satisfaction SCHUNK products are inspiring Our detailed assembly and op...

Page 3: ...nosis Messages PROFIBUS 13 4 Commands 14 4 1 MOVE Move the gripper fingers 14 4 2 GRASP Grasp a part 15 4 3 RELEASE Release a part 16 4 4 HOMING Referencing the gripper fingers 17 4 5 STOP ACK Stop movement or acknowledge a FAST STOP 18 4 6 FAST STOP Raise a Fast Stop with turning off the motor 19 4 7 JOG and JOG Jog Mode in positive and negative direction 20 5 Fieldbus Monitor 22 5 1 Appendix A S...

Page 4: ...ware The WSG family of grippers provides interfaces to CAN bus PROFI BUS DP V0 and or PROFINET dependent on the gripper type All grippers contain an Ethernet TCP IP as parametrisation and communication interface The description of the parametrisation and communication inter faces CAN bus and Ethernet TCP IP are contained in the software manual Command Set Reference Further information is contained...

Page 5: ... O Space of the gripper is pre configured at master side by using the device profile Further infor mation on the particular I O register 3 Page 8 Installing the GSD file NOTE The GSD file can installed in Siemens STEP7 v11 0 TIA and newer The GSD file is provided as a ZIP compressed package that contains the following files WEIS5555 gsd device description file WSG_D bmp visualization file WSG_R bm...

Page 6: ...register space is described in detail in 3 Page 8 Installing the GSDML file NOTE The GSDML file can be installed in Siemens STEP7 v11 0 TIA and newer The GSDML file is provided as a ZIP compressed package that con tains the following files GSDML VX XX Weiss Robotics WSG XXXXXXXX gsdml device description file GSDML 02A2 0001 WSG bmp visualization file Follow these steps to install the GSD file in S...

Page 7: ...ious configuration options to be set remotely using an engi neering tool like e g Siemens STEP7 Please refer to the documentation of your engineering tool NOTE Changing the WSG s IP address settings remotely using an engi neering tool The device s web interface might become inaccessi ble if the PROFINET connection gets lost It is strongly recommended to change these settings only via the WSG s web...

Page 8: ... Command Flags A command is issued when changing the corresponding bit from 0 to 1 raising edge 4 Page 14 Bit Index Name Description Bit 0 MOVE Move the gripper fingers Bit 1 GRASP Grasp a part Bit 2 RELEASE Release a part Bit 3 HOMING Home the gripper Bit 4 STOP ACK Stop but do not turn off the motor Acknowledge a FAST STOP Bit 5 FASTSTOP Stop and turn off the motor must be acknowledged Bit 6 JOG...

Page 9: ...n 1 100 Newton i e a value of 1050 means 10 50 N The grasping force is twice the no minal force that is applied to the part to be grasped Encoded as INT signed only positive values are allowed NOTICE Setting this parameter to a value beyond the system limits and triggering a motion related function using it raises a FAST STOP To initiate a command the command parameters have to be set up and the r...

Page 10: ...rol 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...

Page 11: ...e system state flags should not be used to control the grasping process Use the grasping state instead Bit Index Name Bit 0 REFERENCED Bit 1 MOVING Bit 2 BLOCKED_MINUS Bit 3 BLOCKED_PLUS Bit 4 SOFT_LIMIT_MINUS Bit 5 SOFT_LIMIT_PLUS Bit 6 AXIS_STOPPED Bit 7 TARGET_POS_REACHED Bit 8 OVERDRIVE_MODE2 Bit 9 FORCECNTL_MODE Bit 10 reserved Bit 11 reserved Bit 12 FAST_STOP Bit 13 TEMP_WARNING Bit 14 TEMP_...

Page 12: ...Current Grasping Force Current grasping force in 1 100 Newton i e a value of 405 means a grasping force of 40 5 N This is twice the nominal force that is currently applied to a part Encoded as INT This register is updated every bus cycle with the current grasping force regardless of the currently processed command NOTICE If no Force Measurement Finger is installed on the WSG this value is approx i...

Page 13: ...FAULT SF_CURR_FAULT SF_FINGER_FAULT SF_CMD_FAILURE SF_SCRIPT_FAILURE More detailed description of these flags 5 2 Page 24 The format of the diagnosis message Byte Number Description 0 3 Standard Diagnostic Data Diagnostic Data as defined by the PROFIBUS Spe cification 4 5 Slave Ident No Slave Identification Number This is 0x5555 for the WSG 6 Length of Diagnostic Message Diagnosis messages of the ...

Page 14: ... issued if the gripper is idle i e grasping state is IDLE Command Flag Position Bit 0 Parameters used WIDTH SPEED Status Code The STATUS CODE register is set to E_CMD_PENDING upon start of the movement and set to the command s result when it has fi nished Grasping State GSTATE The grasping state changes to POSITIONING when starting to move and back to IDLE when finished In case of an error the gra...

Page 15: ...grated part monitoring is enabled which supervises the grasping force If a part is removed from the gripper before issuing the RELEASE command the gripper detects it and changes the grasping state to PART_LOST NOTE You may reduce the grasping speed with sensitive parts to limit the impact due to the mass of the gripper fingers and the internal mechanics Command Flag Position Bit 1 Parameters used ...

Page 16: ... Flag Position Bit 3 Parameters used WIDTH SPEED Status Code The STATUS CODE register is set to E_CMD_PENDING upon start of the movement and set to the command s result when it has fi nished Grasping State GSTATE During finger movement the grasping state is set to RELEASING When the end position is reached the grasping state is set to IDLE In case of an error the GSTATE is set to ERROR System Stat...

Page 17: ...e of the web interface You can set the di rection of homing inbound or outbound as well as enable auto matic homing on startup NOTE During homing soft limits are disabled Obstacles in the move ment range of the fingers and collisions with these during homing may result in a wrong reference point for the finger position Command Flag Position Bit 3 Parameters used none Status Code The STATUS CODE re...

Page 18: ...ot be applied anymore If the WSG is in FAST STOP mode a transition from 0 to 1 is re quired on this flag to acknowledge and to return in normal operat ing mode You have to reset the FASTSTOP flag before acknowl edging it Command Flag Position Bit 4 Parameters used none Status Code The STATUS CODE register is set to E_SUCCESS Grasping State GSTATE The grasping state is set to IDLE System State SYSS...

Page 19: ...he FAST STOP state is indicated in the system flags and logged in the system s log file The FAST STOP command should in general be used to react on certain error conditions To simply stop the current movement you may want to use the STOP command instead NOTE The drive can be enabled again using the web interface However it is required to reset the FAST STOP flag on the PROFIBUS inter face to enabl...

Page 20: ...orce limit current controlled only as well as the speed can be passed as parameters You may consider using a hand wheel to control them Be aware that high movement speed may interfere with a low force limit setting NOTE In contrast to other motion related commands the SPEED Para meter can be set to 0 resulting in an internal clamping of the value to the minimum gripper speed NOTE The Jog Mode is i...

Page 21: ...is set to RELEASING When the end position is reached or in case of an error the grasping state is set to IDLE System State Various transitions will occur You should use the grasping state to evaluate the current state of the grasping process unless you have very special requirements ...

Page 22: ...an be accessed via the web interface select Diagnosis Fieldbus Monitor from the menu The monitor displays the current content of the input and output registers and gives some basic information about the bus state thus making it easy to embed it in a Profibus or Profinet based in dustrial environment 5 ...

Page 23: ...NO_PARAM_EXPECTED A Parameter was given but none expected 13 E_NOT_ENOUGH_PARAMS Not enough parameters for executing the command 14 E_CMD_UNKNOWN Unknown command 15 E_CMD_FORMAT_ERROR Command format error 16 E_ACCESS_DENIED Access denied 17 E_ALREADY_OPEN Interface is already open 18 E_CMD_FAILED Error while executing a command 19 E_CMD_ABORTED Command execution was aborted by the user 20 E_INVALI...

Page 24: ...e user D18 SF_CMD_FAILURE Command Error The flag is set if the last command returned an error D17 SF_FINGER_FAULT Finger Fault The flag is set if the status of at least one finger is set from OPERATING to NOT CONNECTED Please check the finger flags for a more detailed error description D16 SF_CURR_FAULT Engine Current Error The flag is set if the engine has reached its maximum thermal power consum...

Page 25: ...OVERDRIVE_MODE Overdrive Mode1 The flag is set if the gripper is in overdrive mode The grasping force can be set to a value up to the overdrive force limit If this bit is not set the grasping force cannot be higher than the gripper s nominal grasping force value D7 SF_TARGET_POS_REAC HED Target position reached The flag is set if the target position was reached This flag is not synchronized with S...

Page 26: ...tion is resolved or a stop command is issued D2 SF_BLOCKED_MINUS Axis is blocked in negative moving direction The flag is set if the axis is blocked in negative moving direction The flag will be reset if either the blocking condition is resolved or a stop command is issued D1 SF_MOVING The Fingers are currently moving This flag is set whenever a movement is started e g MOVE command The flag will r...

Page 27: ...Fieldbus Monitor 01 00 WSG en 27 Appendix C Grasping States The following diagram illustrates the grasping states and transi tions as intended to be used in normal operation 5 3 ...

Page 28: ...cycle consisting of pre positioning the gripper jaws grasping a part releasing and return ing to the start position If a part is detected the gripper will hold it for a short moment In case of an error the gripper will execute a homing sequence and restart from the beginning Please note that the gripper must be referenced before running the program The PLC is configured in the project to use IP ad...

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