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WEISS ROBOTICS 5120012 Скачать руководство пользователя страница 18

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Functional Principle of the Gripping Module

The gripping modules of the CRG series are servo-electrical two-finger parallel grippers with integrated grip-
ping control, a high-performance brushless drive, and a high-resolution position measuring system, which
has been developed for use in collaborative robot application. Tooth belt kinematics move and synchronize
the base jaws, which are guided by rolling bearings. Due to the pre-positioning capability of the gripping
fingers and the innovative gripping force control, the gripping modules of the CRG series can be used for a
multitude of applications in modern automation. The module is supplied with power and connected to the
process control directly via the integrated IO-Link interface. Rounded edges prevent any injuries when con-
tacting with people thus ensures risk reduction for the design of collaborative applications. Integrated grip-
ping force retention, which prevent slipping out of workpiece, even if the power supply to the gripper is
interrupted unexpectedly, is a safe operation during any operation condition. Figure 8 shows the functional
diagram of the CRG gripping modules.

Drive

Gear Box

Grip Control

Part

Detection

Diagnosis

Virtual Position

Switches

Force

Control

Position

Detection

Figure 8: Functional diagram of the CRG gripping module

The integrated gripping control has a highly optimized gripped-part detection. Up to eight 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 CRG grips in this area, its state changes from RELEASED to HOLD-
ING, which signals a successful grip to the process control. As an alternative to the gripped-part detection,
the position of the base jaws can also be monitored via freely parameterizable virtual position switches.
To detect malfunctions, the CRG monitors all functionally relevant components, such as position sensors and
drive, continuously and provides detailed diagnostic information via IO-Link during operation. Providing us-
age data via IO-Link makes needs-based maintenance possible. For this purpose, the CRG autonomously in-

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Содержание 5120012

Страница 1: ...Mounting and Operating Manual CRG Series Electrical Gripping Modules with IO Link October 2020...

Страница 2: ...ersonnel Qualification 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 Permi...

Страница 3: ...osition Switches 30 8 2 3 4 Visualization with luminous ring 31 8 2 3 5 Diagnosis Parameters 34 8 2 3 6 Protocol Memory 36 8 2 3 7 Extended Configuration Parameters 37 8 2 4 System Commands 37 8 3 Sys...

Страница 4: ...ripping Module Stops Abruptly or Does Not Complete the Entire Stroke 55 11 3 No Communication with the Gripping Module 55 11 4 The Gripping Module Reports an Error 56 12 APPENDIX A Device specific Pro...

Страница 5: ...lation and integrated IO Link technology Figure 1 shows the connectors and components of an CRG gripping module The gripping module can be configured via the configuration software of the IO Link mast...

Страница 6: ...mply 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 Referenc...

Страница 7: ...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 or with t...

Страница 8: ...the power supply Do not reach into the open mechanical parts and avoid reaching the movement area of the gripping module Disconnect the power supply of the module before any installation modification...

Страница 9: ...s with ISO standard flange Device configurator for gripping modules of the Integration Line DC IOLINK part number 5020009 Power supply cables Please order accessories separately More accessories can b...

Страница 10: ...on 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 absolut...

Страница 11: ...he 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 decre...

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 possi ble cycle time...

Страница 13: ...TZ Nm 7 2 23 6 Table 4 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 the...

Страница 14: ...38 400 COM2 Min cycle time ms 4 0 Max starting time IO Link2 ms 280 Max starting time operational readiness3 ms 750 Table 5 Electrical nominal data 5 2 1 Electrical Interface The gripping module has...

Страница 15: ...r Supply 0 V 4 C Q IO 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 har...

Страница 16: ...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 Nm 3 Nm Base jaw steel 1 3 Nm 3...

Страница 17: ...ves are listed in Table 7 Position CRG 030 050 CRG 200 085 1 2 pieces Centering sleeve 6h6 x 5 5 Weiss Robotics part no 2090046 2 pieces Centering sleeve 6h6 x 5 5 Weiss Robotics part no 2090046 2 2 p...

Страница 18: ...pply to the gripper is interrupted unexpectedly is a safe operation during any operation condition Figure 8 shows the functional diagram of the CRG gripping modules Drive Gear Box Grip Control Part De...

Страница 19: ...So the operator can see at a glance the condition of the system and react accordingly This allows a user friendly collaborative application 7 1 Typical Application Figure 9 shows a typical control si...

Страница 20: ...annot be only for the warnings and disturbances but also especially in collabora tive application can be an advice on user interaction For this purpose the luminous ring can be extensively parameteriz...

Страница 21: ...20 Protocol memory event log of the last ten events Data for needs based maintenance gripping cycle count The protocol memory can be read out via IO Link parameter index 0x100 to 0x109 cf Table9...

Страница 22: ...Downloads 8 1 Cyclic Process Data Please pay attention to the byte order According to the IO Link standard data is transmitted in big endian format 8 1 1 Output Data IO Link Master to Gripping Module...

Страница 23: ...is deactivated and the fingers are force free CMD Gripping command bit 8 BooleanT With this bit the gripping and releasing of parts is controlled If the bit is set the gripping module grips with the...

Страница 24: ...e reserved and are currently not used by the gripping module Their value should be ignored by the master MAINT Maintenance required bit 7 BooleanT Shows whether the maintenance interval of the grippin...

Страница 25: ...Limit and the gripping force has been built up NO PART No part found bit 2 BooleanT When the base jaws of the gripping module reach the parameterized NO PART Limit or are moved be yond it no part has...

Страница 26: ...e separately since the parameter set of the old module is automatically taken over For further information on the storage capabilities of your IO Link master please contact the manufacturer Remanent S...

Страница 27: ...etailed 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...

Страница 28: ...e is valid for all grips Address Index 0x0040 Subindex 0x02 Data Type UIntegerT 8 Value range 10 to 100 Factory Setting 100 Example Traversing with 10 of the maximum speed Set the value 10 Traversing...

Страница 29: ...5 Index 0x0065 subindex 0x01 Grip 2 Index 0x0062 subindex 0x01 Grip 6 Index 0x0066 subindex 0x01 Grip 3 Index 0x0063 subindex 0x01 Grip 7 Index 0x0067 subindex 0x01 Data Type IntegerT 16 Factory Sett...

Страница 30: ...ndex 0x0060 subindex 0x03 Grip 4 Index 0x0064 subindex 0x03 Grip 1 Index 0x0061 subindex 0x03 Grip 5 Index 0x0065 subindex 0x03 Grip 2 Index 0x0062 subindex 0x03 Grip 6 Index 0x0066 subindex 0x03 Grip...

Страница 31: ...switch 3 Index 0x0093 subindex 0x01 Data Type IntegerT 16 Factory Setting 0 0 mm Example The center position of the virtual position switch is 5 mm Set the value 500 Width of the Switching Range Indic...

Страница 32: ...E 6 ROTATING LIGHT COUNTER CLOCKWISE 7 INNWARD Table 12 Available animationen Address Visualization 0 Index 0x0080 Subindex 0x01 Visualization 1 Index 0x0081 Subindex 0x01 Visualization 2 Index 0x0082...

Страница 33: ...on 0 Index 0x0080 Subindex 0x02 Visualization 1 Index 0x0081 Subindex 0x02 Visualization 2 Index 0x0082 Subindex 0x02 Visualization 3 Index 0x0083 Subindex 0x02 Visualization 4 Index 0x0084 Subindex 0...

Страница 34: ...82 Subindex 0x03 Visualization 3 Index 0x0083 Subindex 0x03 Visualization 4 Index 0x0084 Subindex 0x03 Visualization 5 Index 0x0085 Subindex 0x03 Visualization 6 Index 0x0086 Subindex 0x03 Visualizati...

Страница 35: ...lluminated ring Indicates the duration of the last successful gripping operation in milliseconds Address Index 0x00A0 subindex 0x01 Data Type UIntegerT 16 Factory Setting not available Example The las...

Страница 36: ...er every 1000 cycles the actual cycle count may differ from the displayed count Address Index 0x00A0 subindex 0x04 Factory Setting not available Data Type UIntegerT 32 Cycles Remaining until Next Main...

Страница 37: ...west entry subindex 0x01 Data Type UIntegerT 32 Factory Setting 0 0 s Example A read out value of 110678 indicates that the logged event occurred 110678 seconds or approximately 31 hours after the sta...

Страница 38: ...commands are issued by writing the respective code 1 byte at index 0x02 of the standardized pro cess parameters cf chapter 8 2 2 If necessary the system commands can be issued directly via the config...

Страница 39: ...ed when the base jaws do not move despite a motion com mand due to a blocked or defective drive 0x4000 Temperature Fault The temperature inside the gripping module exceeds 70 C It is rec ommended to s...

Страница 40: ...Description 0x8C41 Maintenance Required The gripping module has reached or exceeded the cycle count upon which the next maintenance is required Maintenance must be car ried out Table 16 System events...

Страница 41: ...und 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 gripping module is a...

Страница 42: ...ing Therefor a reference movement is not required Nevertheless the module can be referenced during operation For this purpose the module moves the base jaws with defined force and speed to the outer l...

Страница 43: ...Released The part has been released 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...

Страница 44: ...ping state 9 6 Parameterizable Grips Four different grips can be parameterized for the gripping of different parts The grip is selected via the grip index which is transmitted by the cyclic process da...

Страница 45: ...ovement Danger of collision If the gripping area is not sufficiently large parts that are too small or too large may be gripped although the gripping state is NO PART or RELEASED If in doubt please ch...

Страница 46: ...uring gripping it must be acknowledged as described in chapter 9 9 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 Er...

Страница 47: ...ning 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 16 To acknowledge an erro...

Страница 48: ...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 49: ...switching on again the gripping force retention is released by the first valid command and the corre sponding command is executed If this first valid command is a gripping command the gripping force i...

Страница 50: ...d 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 mm to maximize th...

Страница 51: ...is set to 70 The part is parameterized as GRIP 0 of the gripping module For this purpose the following parameters are set via the configuration software of the IO Link master or via the Weiss Robotics...

Страница 52: ...ing 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 module To ensure the reliability of the gripping process a position tolera...

Страница 53: ...must also be used for performing the program sequences mentioned above As a visualization index 0 was selected to visualize the gripping state via the illuminated ring on the gripping module In the re...

Страница 54: ...ver as depicted in Figure 21 to clean the module with a brush Figure 21 Removing the belt cover The gripping module is factory adjusted Do not remove the base jaws and the belts The maintenance interv...

Страница 55: ...ched In addition the MAINT flag is set in the cyclic process data The remaining cycles until the maintenance interval is reached can be queried via the acyclic process parameters see chap ter 8 2 3 45...

Страница 56: ...module to Weiss Robotics with a repair or der Make sure the gripping module is only used according to the defined operating parameters 11 2 Gripping Module Stops Abruptly or Does Not Complete the Enti...

Страница 57: ...rten the holding cycles or reduce the gripping force Make sure that there is a distance between the base jaws and the end stop in the RELEASED state Reduce the heat input from outside The error is aut...

Страница 58: ...16 NO PART Limit in 1 100 mm see Table 11 2 IntegerT 16 RELEASE Limit in 1 100 mm 3 UIntegerT 8 Gripping force in per cent 0x61 Grip 1 Read write 1 IntegerT 16 NO PART Limit in 1 100 mm 2 IntegerT 16...

Страница 59: ...Virtualiza tion 0 Read write 1 UIntegerT 8 Animation see Table 11 2 UIntegerT 8 Color 3 UIntegerT 8 Speed 0x81 Virtualiza tion 1 Read write 1 UIntegerT 8 Animation 2 UIntegerT 8 Color 3 UIntegerT 8 S...

Страница 60: ...0x93 Virtual posi tion switch 3 Read write 1 IntegerT 16 Switch position in 1 100 mm 0 2 UIntegerT 16 Switch position in 1 100 mm 200 0xA0 Diagnosis Read Only 1 UIntegerT 16 Duration of the last succ...

Страница 61: ...ff Subindex Datentyp Beschreibung Werkseinstellung 0x0140 Mainte nance Inter val Read write 0 UIntegerT 32 Number of gripping cycles after which maintenance is sig naled 2 000 000 Table 19 Device spec...

Страница 62: ...project in the TIA portal and configure the 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 Figure22 The IO Link...

Страница 63: ...62 Figure 22 Configuration of the IO Link master Figure 23 Starting the S7 PCT port configurator device tool...

Страница 64: ...63 Figure 24 Configuration of the IO Link port...

Страница 65: ...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 66: ...he 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 has been...

Страница 67: ...ata as well as the event log memory of the gripping module This information can be read only The Diagnosis tab provides information on the current state of the gripping module Logged events can also b...

Страница 68: ...hine 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 con...

Страница 69: ...tioned in this document can be changed to improve our products without prior notice Used trademarks are the property of their respective trademark owners Our products are not intended for use in life...

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