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9
Control of the Gripping Module
The gripping module is accessed via a standardized data format in accordance with IO-Link specification
V1.1 (IEC 61131-9). This is a powerful point-to-point communication protocol in which the process data are
cyclically exchanged between the IO-Link master and the gripping module.
The gripping module is also parameterized via IO-Link. This can be performed with the configuration soft-
ware of the IO-Link master or with the DC-IOLINK device configurator by Weiss Robotics, which is available
separately.
The IO-Link Device Description (IODD file) that is needed for the configuration of the gripping mod-
ule can be found on our website at https://www.weiss-robotics.com/ieg.
A configuration example based on SIEMENS TIA Portal can be found in chapter 12.
9.1
Gripping Commands
The movement of the base jaws is controlled via the command bits of the cyclic process data. The following
commands are available:
ENABLE
The gripping module is activated, and the drive is switched on. The selected command GRIP, RELEASE,
or REFERENCE is executed.
DISABLE
The gripping module is deactivated, and the drive is switched off. The base jaws are force-free.
RELEASE
The jaws are opened, and the gripped part is released.
GRIP
The jaws are closed, and the part is gripped.
HOME
A reference run is performed for the gripping module.
The direction of movement of the base jaws during GRIPPING and RELEASING is determined by the
parameterization of the grip.
After the start of the gripping module, the drive is initially deactivated, and the base jaws are force-free. To
move the base jaws, the gripping module must be activated and referenced. Only then can the commands
GRIP and RELEASE be executed.
