WEISS ROBOTICS 5120012, Mounting And Operating Manual

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Index Function Access Data type Description
0x02 System Command Write only UIntegerT(8) Execution of system commands
0x0C Device Access Locks Read/write RecordT
Standardized device protection func-
tion
0x10 Vendor Name Read only StringT Manufacturer name
0x11 Vendor Text Read only StringT Manufacturer text
0x12 Product Name Read only StringT Product name
0x13 Product ID Read only StringT Product ID
0x14 Product Text Read only StringT Product text
0x15
Serial Number Read only StringT Serial number
0x16 Hardware Revision Read only StringT Hardware revision
0x17 Firmware Revision Read only StringT Firmware revision
0x20 Error Count Read only UIntegerT(16)
Number of errors since the start or re-
set of the gripping module
0x24 Device Status Read only UIntegerT(8) Device status
0x25 Detailed Device Status Read only
ArrayT of Oc-
tetStringT3
Detailed device status
Table 10: Standardized process parameters
8.2.3 Device-specific Acyclic Process Parameters
Configuration and diagnosis of the gripping module are performed via device-specific acyclic process param-
eters. You can find an overview on the parameters in chapter 12.
8.2.3.1 Motion Parameters
Override Gripping Speed in Percent
Decreases or increases the gripping speed, which has been automatically calculated from the specified
gripping force. The necessary gripping speed is automatically determined by the gripping module and is
optimized for a hard grip (steel on steel), see chapter 5.1.2. This predefined value is equivalent to 100%.
The set value is valid for all grips.
Damage to the gripping module and to the gripped part possible. Excessive gripping speed can
lead to rebound effects and heightened force peaks (gripping impulse) during gripping.
Uneven movement (“clattering”) possible when gripping speed is insufficient.