Index
Subindex
Name
Descrip-
tion
Value
(example
)
Lengt
h
[byte]
Format
0x0105
‘Gripping-
Force’
2)
–
Invalid
–
Gripping
force
level 1:
approx.
50%
–
Gripping
force
level 2:
approx.
70%
–
Gripping
force
level 3:
approx.
85%
–
Gripping
force
level 4:
100%
–
0
–
1
–
2
–
3
–
4
1
UIntegerT8
0x0800 -
0x081F
‘Workpie-
ceSet’
Workpiece
sets with 4
parameters
each
5
RecordT40
1
‘Gripping-
Mode’
Description
see Index:
0x0103
2
‘Gripping-
Force’
Description
see Index:
0x0105
3
‘Gripping-
Position’
Description
see Index:
0x0101
4
‘Gripping-
Tolerance’
Description
see Index:
0x0104
1) Copy of the process data
2) Currently used data
Tab. 15: Device-specific parameters
Parameter ‘GrippingPosition’
The gripping position is the value that can either be entered manually in the
workpiece or described using the ‘TeachGrippingPosition’ command. As soon
as the position is reached within the ‘GrippingTolerance’, it is returned in the
‘GrippedPositionFlag’ with ‘StatusWord’.
Since the different sizes have different strokes, the permissible values for the
parameter depend on the size. The value range goes from 0 to the total stroke of
the gripper in [mm x 100]. The value "0" is the open state and the maximum value
is the closed state.
EHPS-...-A-LK
16
20
25
permissible value range total
stroke
[mm x 100]
0 … 2150
0 … 2750
0 … 3350
Values in open state
[mm x 100]
0
0
0
Theoretical values in closed
state
[mm x 100]
2000
2600
3200
Tab. 16: "GrippingPosition" parameter
Parameter ‘WorkpieceNo’
The number to select a workpiece set.
–
0: Current process data are used.
–
1-32: Data from the corresponding ‘WorkpieceSet’one are used.
Parameter ‘GrippingMode’
A movement mode can be set with this parameter.
3 modes are possible:
–
Universal operation: ‘universal’
–
External gripping: ‘external gripping’
–
Internal gripping: ‘internal gripping’
Gripping mode
Decimal value
Description
‘universal’
100
Opening and closing movements are carried
out with the force (‘GrippingForce’) set and
thus at the same speed.
‘internal gripping’
70
The opening movement takes place with the
force set in ‘GrippingForce’ and the (resulting)
speed. The closing movement takes place at
maximum speed.
‘external gripping’
60
The closing movement takes place with the
force specified in ‘GrippingForce’ and the
(resulting) speed. The opening movement
takes place at maximum speed.
‘Invalid’
0
–
Tab. 17: Gripping modes
Parameter ‘GrippingForce’
The gripping force can be adjusted in 4 different force levels. Since the gripping
force is built up dynamically via the speed, a change in the gripping force setting
also results in a change in speed.
Force level
Decimal value
Force value
Invalid
0
–
Level 1
1
approx. 50%
Level 2
2
approx. 70%
Level 3
3
approx. 85%
Level 4
4
approx. 100%
Tab. 18: "GrippingForce" parameter
• The speed has an effect on the gripping force. The gripping force is not linearly
adjustable.
• The gripping position and gripping force are not readjusted.
• The design of the gripper jaws has a major influence on the gripping force to be
achieved.
Parameter ‘GrippingTolerance’
With this parameter, a tolerance can be set for the gripper exclusively for the
‘GrippingPosition’ parameter. This functionality is helpful, for example, when
checking the correct workpiece.
The entered value is effective in both directions of the ‘GrippingPosition’. The total
tolerance field width is therefore twice the tolerance value.
Parameter
Decimal value
Resolution
Tolerance to be
recorded
‘GrippingTolerance’
0 … 255
0.01 mm
0 … ±2.55 mm
Tab. 19: GrippingTolerance" parameter
The following repeat accuracy can be achieved:
EHPS-...-A-LK
16
20
25
Repeat accuracy
[mm]
± 0.02
± 0.02
± 0.02
Tab. 20: Repeat accuracy
The linearity of the displacement measuring system over the entire stroke is
enclosed:
EHPS-...-A-LK
16
20
25
Linearity
[mm]
± 0.05
± 0.1
± 0.15
Tab. 21: Linearity
In the case of a gripper exchange, the positions of the workpieces that are
taught-in and stored in IO-Link Data Storage can be returned by the displacement
encoder with the following accuracy (plus tolerance of the gripper fingers):
EHPS-...-A-LK
16
20
25
External gripping interchange-
ability
[mm]
± 0.1
± 0.1
± 0.2
Internal gripping interchange-
ability
[mm]
± 0.5
± 0.5
± 0.7
Tab. 22: Interchangeability
Parameter ‘WorkpieceSet’
In the gripper, 4 parameters can be defined for each of 32 different workpieces
–
‘GrippingMode’
–
‘GrippingForce’
–
‘GrippingPosition’
–
‘GrippingTolerance’
The writing of the ‘WorkpieceSet’ is exclusively via the process data with the
‘LatchData’ and ‘Store’ commands. No value must be specified for the ‘Gripping-
Position’ parameter; this parameter can also be taught-in with ‘TeachGrippingPo-
sition’.
10.9
Commissioning
Byte-Swap
The correct data mapping can be recognised by the bit ‘Ready’ . The bit ‘Ready’ is
the only one set after switching on.
10.10
Datastorage
The following data can be transferred in the Datastorage:
–
‘ApplicationSpecificTag’
–
Data from the ‘WorkpieceSet’:
–
‘GrippingMode’
–
‘GrippingForce’
–
‘GrippingPosition’
–
‘GrippingTolerance’
10.11
System Commands
The gripper can be operated without prior input of valid process data via the
System Commands 160, 161 and 162.
The following parameters are stored via the System Commands for operation:
–
‘GrippingForce’: 1
–
‘GrippingMode’: Universal
Name
Description
Index
Value
[Restore Factory Settings]
Reset of all parameters to the
factory values
0x0002
130
