Description
8
01.00|WSG |en
Description
The Fieldbus interface of the gripper is implemented as 8-Byte
output and 12-Byte input register files.
Output Registers (PLC to WSG)
The output registers are transferred from the Profibus Master or
Profinet Controller (e.g. PLC) to the WSG. They consist of com-
mand flags, user flags and three parameters and are used to con-
trol the gripper. Due to the register-space-oriented nature of Pro-
fibus and Profinet, only a subset of the WSG’s command set is
available via this interface.
Grouping of Output Registers
Byte Number Register Name Description
0
CMDFLAGS
Command Flags
A command is issued when changing the corresponding
bit from 0 to 1 (raising edge),
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+
Jog-Mode in positive direction
Bit 7:
JOG-
Jog-Mode in negative direction
NOTICE! If the FASTSTOP or STOP/ACK bit is set to ‘1’,
the motion commands are disabled.
1
IF
User Flags (input)
Free programmable flags that can be used in conjunction
with the Script Interpreter.
Bit Index: Name
Description
0
IF1
Input User Flag 1
1
IF2
Input User Flag 2
2
IF3
Input User Flag 3
3
IF4
Input User Flag 4
3
3.1
