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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.
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) since the fingers project slightly beyond the
inner edge of the base jaws. Thus, an inward reference run would be performed on the mounted gripping
fingers and the position value would have an offset. The gripping module is initialized by the program se-
quence depicted in Figure 14. To grip the part, the control system performs the program sequence depicted
in Figure 15. When the GRIP command is issued, the fingers move apart since the NO PART Limit is higher
than the RELEASE Limit. To release the part, perform the program sequence depicted in Figure 16. Since
GRIP 1 has been parameterized in this example, the grip index 1 must also be used for performing the pro-
gram sequences mentioned above. The gripping state is visualized via the state display: In the released
state (fingers together), the state display's light is blue; when the part has been gripped correctly, the light
changes to green.
9.13
Function Block for Siemens TIA Portal
For TIA portal, there is a function block available at
https://www.weiss-robotics.com/ieg
under
“
Down-
loads
”
. The documentation of the function block can be found in the downloaded file.
