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be used in the program sequence. The gripping state is also visualized via the state display at the gripping
module: In the released state, the state display's light is blue; if the part has been gripped correctly, the
light changes to green.
9.12.2
Application Example Internal Gripping
In a mounting process, a plain bearing bush is to be picked up and inserted with an IEG 55-020. Since the
bush is to be inserted into a bore hole, it must be gripped from the inside. The gripping application is de-
pictedFigure 20. The fixing at the motion axes and possible compensatory elements are not depicted here.
The bush with its inner diameter of 22 mm is gripped and aligned with the help of hardened pins (Figure 20,
right view).
The gripping fingers are designed in such a way that the part is held at a jaw position of 10 mm (half the
total stroke of the gripping module). To ensure the reliability of the gripping process, a position tolerance of
± 1.5 mm is set. The gripping force should be the nominal gripping force.
Since GRIP 0 is already in use, the part is parameterized as GRIP 1 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 Ro-
botics DC-IOLINK device configurator, which is available separately:
GRIP 1:
NO PART Limit (index 0x61, subindex 0x01):
1150 (= 11.50 mm)
RELEASE Limit (index 0x61, subindex 0x02):
850
(= 8.50 mm)
Gripping force (index 0x61, subindex 0x03):
100
(= 100%, corresponding to 30 N)
Figure 20: Application example internal gripping
