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9.12.1
Application Example External Gripping
Figure 19 shows an example of external gripping with the IEG 55-020 gripping module. An electrolytic ca-
pacitor is to be gripped at the casing and dropped into a fixture. The capacitor has a nominal diameter in
the gripping area of 15 mm. The gripping fingers have been configured in such a way that the nominal di-
ameter corresponds to a jaw spacing at the gripping module of 10 mm (half the total stroke). To ensure the
reliability of the gripping process, a position tolerance of ± 1 mm is set. Due to the low weight of the part,
the gripping force is set to 21 N. For the IEG 55, this means the gripping force is set to 70%. The part is pa-
rameterized as GRIP 0 of the gripping module. For this purpose, the following parameters are set via the
configuration software of the IO-Link master or via the Weiss Robotics DC-IOLINK device configurator,
which is available separately:
GRIP 0:
NO PART Limit (index 0x60, subindex 0x01):
900
(= 9.00 mm)
RELEASE Limit (index 0x60, subindex 0x02):
1100 (= 11.00 mm)
Gripping force (index 0x60, subindex 0x03):
70
(= 70%, corresponding to 21 N)
If the module is parameterized via DC-IOLINK, the parameterized values must be stored remanently
in the gripping module before it is deactivated, see chapter 8.2.1.
Figure 19: Gripping example external gripping
If the gripping module has been restarted, it must first perform a reference run. In this example, it makes
sense to perform an outward reference run (factory setting). The gripping module is initialized by the pro-
gram sequence depicted in Figure 14. The gripping process is performed via the program sequences in Fig-
ure 15 (grip part) and Figure 16 (release part). Since GRIP 0 has been parameterized, the grip index 0 must
