SCHUNK WSG Series, Руководство пользователя программного обеспечения

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Table of contents
01.00|WSG |en 3
Table of contents
1 Introduction ............................................................................................................. 4
2 Interface ................................................................................................................... 5
2.1 PROFIBUS .................................................................................................................. 5
2.1.1 Installing the GSD file .................................................................................... 5
2.1.2 Configuration ................................................................................................ 6
2.2 PROFINET .................................................................................................................. 6
2.2.1 Installing the GSDML file ............................................................................... 6
2.2.2 Configuration ................................................................................................ 7
3 Description ............................................................................................................... 8
3.1 Output Registers (PLC to WSG) ................................................................................ 8
3.2 Input Registers (WSG to PLC) ................................................................................. 10
3.3 Diagnosis Messages PROFIBUS ............................................................................... 13
4 Commands .............................................................................................................. 14
4.1 MOVE - Move the gripper fingers .......................................................................... 14
4.2 GRASP - Grasp a part .............................................................................................. 15
4.3 RELEASE - Release a part ........................................................................................ 16
4.4 HOMING - Referencing the gripper fingers ............................................................ 17
4.5 STOP/ACK - Stop movement or acknowledge a FAST STOP .................................. 18
4.6 FAST STOP - Raise a Fast Stop with turning off the motor ..................................... 19
4.7 JOG+ and JOG- - Jog Mode in positive and negative direction .............................. 20
5 Fieldbus Monitor ..................................................................................................... 22
5.1 Appendix A: Status Codes ....................................................................................... 23
5.2 Appendix B: System State Flags.............................................................................. 24
5.3 Appendix C: Grasping States .................................................................................. 27
5.4 Appendix D: Demo Program ................................................................................... 28