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Figure 2: Determination of the finger lengt

h “

”

. Left: straight fingers, right: angled fingers

5.1.2

Gripping Force and Finger Speed

The gripping force can be set as a percentage of the nominal gripping force. The recommended minimum

gripping force is 25% of the nominal gripping force.

The gripping module sets the finger speed depending on the parameterized gripping force, see Figure 3.

This minimizes the gripping impulse and rebound effects during undamped gripping. The gripping speed

can be increased or decreased manually (and thus adjusted to the part that is being gripped) via the central

override parameter (gray area; see also chapter 8.2.3.1). To ensure proper movement of the fingers, the

minimum possible gripping speed is limited to 10 mm/s.

100

120

[

]

Gripping Force [%]

Ove

rrid

e 10

100

120

[

]

IEG 76-030

IEG 55-020

100

Gripping Force [%]

Over

ride 1

00%

Override min.

Override max.

Figure 3: Gripping speed depending on the parameterized gripping force

Содержание 5010011

Страница 1: ...Mounting and Operating Manual IEG Series Electrical Gripping Modules with IO Link Hardware Version 1 02 October 2020...

Страница 2: ...cation 7 2 5 Safety Considerations 7 2 6 Notes on Particular Risks 7 3 Warranty 7 4 Scope of Delivery and Accessories 8 5 Technical Data 9 5 1 Nominal Mechanical Data 9 5 1 1 Max Permitted Finger Leng...

Страница 3: ...6 Extended Configuration Parameters 31 8 2 4 System Commands 32 8 3 System Events IO Link Events 32 9 Control of the Gripping Module 34 9 1 Gripping Commands 34 9 2 Position Sensors 35 9 3 Reference R...

Страница 4: ...o Communication with the Gripping Module 49 11 4 The Gripping Module Reports an Error 50 12 APPENDIX A Device specific Process Parameters 51 13 APPENDIX B Configuration Example 53 13 1 Preparation 53...

Страница 5: ...Link technology Figure 1 shows the connectors and compo nents of an IEG gripping module The gripping module can be configured via the configuration software of the IO Link master or via the DC IOLINK...

Страница 6: ...ply may jeopardize the safety of per sonnel and equipment damage the device or impair the functionality of the device Additional information for a better understanding of the facts described Reference...

Страница 7: ...ose the gripping module is installed modified or maintained improperly operators do not comply with the EC Machinery Directive the VDE guidelines the local safety and accident prevention regulations o...

Страница 8: ...gripping module Disconnect the power supply of the module before any installation modification maintenance or adjustment work 2 6 Notes on Particular Risks Risk of injury from objects falling and bei...

Страница 9: ...scope of delivery For the gripping module the following accessories are available separately Flange adapter for robots with ISO standard flange Device configurator for gripping modules of the Integrat...

Страница 10: ...tection class IP 40 Ambient temperature C 5 50 Air humidity 0 90 non condensing Mechanical repeatability mm 0 03 Resolution of the measuring system mm 0 01 Working principle of the measuring system re...

Страница 11: ...d effects during undamped gripping The gripping speed can be increased or decreased manually and thus adjusted to the part that is being gripped via the central override parameter gray area see also c...

Страница 12: ...e change of the gripping state The actual time varies depending on the part that is be ing gripped firm or elastic finger weight gripping height etc For an exact assessment of the pos sible cycle time...

Страница 13: ...0 TZ Nm 7 2 23 6 Table 3 Static guide loads In the case of overlaid forces and torques the carrying capacity of the guide must be recalculated according to the following equation 0 1 0 C0 and T are th...

Страница 14: ...starting time IO Link2 ms 280 Max starting time operational readiness3 ms 750 Table 4 Electrical nominal data 5 2 1 Electrical Interface The gripping module has an M8 connector for electrical contact...

Страница 15: ...Link communication Figure 5 Pin assignment view on connector 5 3 Name Plate The name plate is on the transverse side of the gripping module and contains the serial number the hardware version and the...

Страница 16: ...ount the module in the technical drawing of the respective build size The following maximum torques and minimum screw depths must be observed during assembly Thread M3 M4 M6 Casing aluminum 0 7 Nm 1 3...

Страница 17: ...eves are listed in in Table 6 Position IEG 055 020 IEG 76 030 1 2 pieces Screw ISO 4762 M3 2 pieces Screw ISO 4762 M4 2 2 pieces Dowel pin ISO 8734 3 m6 2 pieces Dowel pin ISO 8734 4 m6 3 2 pieces Scr...

Страница 18: ...on Up to four different parts can be pre parameterized via IO Link and gripped reliably For each gripped part a position window is set in which the grip must adjust itself When the IEG grips in this a...

Страница 19: ...ower Supply 24V Fieldbus IEG Gripper IEG Gripper PLC Figure 10 Typical application 7 2 Display of the Operating State The gripping module has a multicolored status display on the side The current oper...

Страница 20: ...y 7 3 Non volatile Memory The gripping module has a non volatile memory in which the following information is stored Device specific factory settings Parameterization of the gripping module Protocol m...

Страница 21: ...1 0 INDEX Table 8 Process data word IO Link master to gripping module RES Reserved data bits bit 15 11 These data bits are reserved and are currently not evaluated by the gripping module Their value...

Страница 22: ...m the gripping module to the IO Link master BYTE 0 31 30 29 28 27 26 25 24 POS BYTE 1 23 22 21 20 19 18 17 16 POS BYTE 2 15 14 13 12 11 10 9 8 SW3 SW2 SW1 SW0 RES BYTE 3 7 6 5 4 3 2 1 0 MAINT TEMPWARN...

Страница 23: ...eat dissipation of the gripping module should be checked The bit is automatically reset when the temperature falls below 68 C Temperatures exceeding 70 C may lead to malfunctions and to permanent dama...

Страница 24: ...e gripping module supports remanent storage of acyclic process parameters in the IO Link master Data Storage Parameter Server If your IO Link master also supports this function the parameters set duri...

Страница 25: ...x13 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 revisi...

Страница 26: ...eaks gripping impulse during gripping Uneven movement clattering possible when gripping speed is insufficient Address Index 0x0040 Subindex 0x01 Data Type UIntegerT 8 Value range 10 to 200 Factory Set...

Страница 27: ...950 19 5 mm 100 IEG 76 030 50 0 5 mm 2950 29 5 mm 100 Table 11 Factory settings of the grip parameters depending on module type All grips have the same scope of functions and have the following parame...

Страница 28: ...subindex 0x02 Grip 2 Index 0x0062 subindex 0x02 Grip 3 Index 0x0063 subindex 0x02 Data Type IntegerT 16 Factory Setting See Table 11 Example The RELEASE Limit for external gripping of a part is at 10...

Страница 29: ...bindex 0x01 Position switch 1 Index 0x0091 subindex 0x01 Position switch 2 Index 0x0092 subindex 0x01 Position switch 3 Index 0x0093 subindex 0x01 Data Type IntegerT 16 Factory Setting 0 0 mm Example...

Страница 30: ...took 42 ms Reading out the parameter gives the result 42 Duration of the Last Successful Releasing Operation Indicates the duration of the last successful releasing operation in milliseconds Address I...

Страница 31: ...egative values in dicate that the maintenance interval has been exceeded Address Index 0x00A0 Subindex 0x05 Data Type IntegerT 32 Factory Setting not available Example A read out value of 200281 indic...

Страница 32: ...ry Setting not set Example A temperature error event returns the message text Temperature Error Please check device 8 2 3 6 Extended Configuration Parameters Maintenance Interval Sets the number of gr...

Страница 33: ...ltered process parameters are overwritten with the standard setting Acknowledge Maintenance Code 0xB0 With this command you can confirm that the device has undergone maintenance When the module sig na...

Страница 34: ...y lead to malfunctions and to permanent damage of the gripping module 0x4210 Device Temperature Over run The temperature inside the gripping module exceeds 55 C The heat dissipation of the gripping mo...

Страница 35: ...IA Portal can be found in chapter 12 9 1 Gripping Commands The movement of the base jaws is controlled via the command bits of the cyclic process data The following commands are available ENABLE The g...

Страница 36: ...nd speed to the outer limit and uses this position as a reference value Keep the traversing range of the fingers free during the reference run to avoid collisions and faulty referencing If an individu...

Страница 37: ...i e the parameterized RELEASE Limit has been reached The base jaws remain position controlled in this posi tion with reduced force NO PART NO PART 1 No Part Gripped No part has been detected while gri...

Страница 38: ...1 Deactivate Error Part lost Release Deactivate Grip No part Activate Grip Part detected NOT INITIALIZED all state flags 0 Homing Deactivate Deactivate RELEASED RELEASED 1 IDLE IDLE 1 NO PART NO PART...

Страница 39: ...ked outside the position window e g at the end stop of the movement the gripped part is considered released or no part has been detected depending on the direction of movement Danger of collision If t...

Страница 40: ...lizing the gripping module The reference run can be interrupted at any time by resetting the EN bit The gripping module then remains in the NOT INITIALIZED state When the reference run has been comple...

Страница 41: ...g gripping it must be acknowledged as described in chapter 9 10 EN 1 HOME 0 CMD 1 INDEX Grip Index HOLDING 1 no yes Part gripped Base Jaws moving NO PART 1 no yes No part detected FAULT 1 no yes Error...

Страница 42: ...oning correctly Possible causes for errors are described in chapter 11 4 In addition to the FAULT state a system event that specifies the cause of error is triggered see Table 12 To acknowledge an err...

Страница 43: ...dvisable to deactivate the gripping module The fingers are then force free but the logic of the gripping module and the position detection are still active Thus e g gripping positions can be taught in...

Страница 44: ...g when a clamped part is to be picked up by a gripping module that has been positioned by a robot Choose a large enough gripping range recommended distance between RELEASE Limit and NO PART Limit 2 m...

Страница 45: ...rameters are set via the configuration software of the IO Link master or via the Weiss Robotics DC IOLINK device configurator which is available separately GRIP 0 NO PART Limit index 0x60 subindex 0x0...

Страница 46: ...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 modu...

Страница 47: ...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...

Страница 48: ...dule Clean the gripping module in regular intervals with a dry cloth to remove all dirt and possible splinters They typically build up below the belt cover Remove the cover as depicted in Figure 21 to...

Страница 49: ...function is activated the gripping module triggers a system event when the maintenance interval has been reached In addition the MAINT flag is set in the cyclic process data The remaining cycles unti...

Страница 50: ...defined operating parameters 11 2 Gripping Module Stops Abruptly or Does Not Complete the Entire Stroke Possible Cause Remedy Wrong parameterization Check the parameterization Power supply interrupte...

Страница 51: ...re is a distance between the base jaws and the end stop in the RELEASED state Reduce the heat input from outside The error is automatically reset when the gripping module has cooled down The gripping...

Страница 52: ...Limit in 1 100 mm 3 UIntegerT 8 Gripping force in percent 0x0061 Grip 1 Read write 1 IntegerT 16 NO PART Limit in 1 100 mm 2 IntegerT 16 RELEASE Limit in 1 100 mm 3 UIntegerT 8 Gripping force in perc...

Страница 53: ...the last successful releasing operation in millisec onds 3 IntegerT 16 Current module tem perature in 1 10 C 4 UIntegerT 32 Gripping cycle count 5 IntegerT 32 Cycles remaining until next mainte nance...

Страница 54: ...PLC Set the IP address of the PLC in such a way that you can access the PLC via PROFINET Then configure the IO Link master SM 1278 cf Figure 22 The IO Link master maps the cyclic process data of the g...

Страница 55: ...54 Figure 22 Configuration of the IO Link master Figure 23 Starting the S7 PCT port configurator device tool...

Страница 56: ...55 Figure 24 Configuration of the IO Link port...

Страница 57: ...hes a connection to the IO Link master By selecting the gripping module in the selection tree on the left the parameterization of the gripping module is loaded The tabs Identification Parameter and Di...

Страница 58: ...ll as the settings of the four virtual position switches These values can be adjusted to your individual application The system commands can be issued via buttons e g acknowledging that maintenance ha...

Страница 59: ...ata as well as the event log memory of the grip ping module This information can be read only The Diagnosis tab provides information on the current state of the gripping module Logged events can also...

Страница 60: ...chine into which the incomplete machine is to be installed meets the provisions of the Machinery Directive 2006 42 EC Applied harmonized standards especially EN ISO 12100 1 Safety of machines Basic co...

Страница 61: ...ioned in this document can be changed to improve our products without prior no tice Used trademarks are the property of their respective trademark owners Our products are not intend ed for use in life...

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