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9

 

Control of the Gripping Module

 

The gripping module is controlled via a standardized data format according to IO-Link specification V1.1 (IEC 

61131-9). This is a powerful point-to-point communication in which the process data is exchanged cyclically 

between the IO-Link master and the gripping module.  

The gripping module is also parameterized via IO-Link and can either be configured using the project planning 

software of the IO-Link master or using the separately available GRIPLINK-U1 device configurator from Weiss 

Robotics.  

 

The device description file (IODD) file required to configure the gripping module can be found on 

our website at https://www.weiss-robotics.com/clg/

.

 

 

A configuration example based on Siemens TIA 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 gripping module is activated and the drive is switched on. The selected GRIP, RELEASE or REFERENCE 

command will be executed. 

DISABLE 

The gripping module is deactivated and the drive is switched off. The base jaws are force-free. 

RELEASE 

The jaws are opened and the workpiece will be released.  

GRIP 

The jaws are closed and the workpiece will be gripped. 

HOME 

The gripping module will be referenced 

 

 

The direction of movement of the base jaws when gripping and releasing is determined by the pa-

rameterization of the grip preset. 

After starting the gripping module, the drive is initially deactivated and the base jaws are force-free. To move 

the base jaws, the gripping module must be activated and referenced. Only then can the gripping and releas-

ing commands be executed.  

Содержание CLG Series

Страница 1: ...1 Mounting and Operating Instructions CLG Series Electrical Gripping Modules with IO Link Hardware Version 1 September 2021...

Страница 2: ...Qualification 8 2 5 Safety Considerations 8 2 6 Indications of Particular Hazards 8 3 Warranty 8 4 Scope of Delivery and Accessories 9 5 Technical Data 10 5 1 Nominal Mechanical Data 10 5 1 1 Permiss...

Страница 3: ...of the Gripping Module 32 9 1 Gripping Commands 32 9 2 Position sensors 33 9 3 Reference Run 33 9 4 Gripping State 34 9 5 Parametrizable Grip Presets 35 9 5 1 Gripping Direction 36 9 6 Initialize grip...

Страница 4: ...ation Example 50 13 1 Preparation 50 13 2 Configuration of the IO Link master 50 13 3 Configuration of the gripping module 53 13 4 Configuration of the Gripping Module 54 13 5 Diagnostics 55 13 6 Gene...

Страница 5: ...ve gripping force control and integrated IO Link technology Figure 1shows the connectors and components of a CLG gripping module The gripping module can be configured either via the configuration soft...

Страница 6: ...endanger the safety of per sonnel and plant damage the device or impair the function of the device Additional information for a better understanding of the described facts Reference to further inform...

Страница 7: ...ng module is improperly mounted modified or incorrectly maintained the EC Machinery Directive the VDE guidelines the safety and accident prevention regulations appli cable at the place of use or the s...

Страница 8: ...le Disconnect the power supply of the gripping module before any installation modification or adjust ment work 2 6 Indications of Particular Hazards Risk of injury from falling and ejected objects Pro...

Страница 9: ...0071 Table 1 Part numbers scope of delivery The following accessories for the gripping module are available separately Flange adapter for robots with ISO standard flange Device configurator for grippi...

Страница 10: ...L 1 mm 40 Permissible mass per finger g 60 Protection class IP 40 Ambient temperature C 5 50 Air humidity 0 90 non condensing Mechanical repeatability mm 0 03 Weight g 120 Table 2 Nominal mechanical...

Страница 11: ...ts the finger speed depending on the parameterized gripping force according to Figure 3This minimizes gripping impulse and rebound effects during undamped gripping The central override parameter see c...

Страница 12: ...anics 5 1 3 Cycle Times The following diagrams show the typical course of the gripping duration and the release duration for different gripping force settings The values shown indicate the typical dur...

Страница 13: ...d forces and moments the load carrying capacity of the guide must be recalcu lated according to the following equation 0 1 0 C0 and T are the permissible guide loads according to Table 3 and M is the...

Страница 14: ...technical sales department in advance Electrical operating data Unit CLG 30 006 Supply voltage V 18 30 Current consumption IDLE inactive mA 40 Current consumption HOLDING 25 force mA 40 Current consu...

Страница 15: ...specified in the IO Link 1 1 standard It is therefore essential to check whether the IO Link master used can permanently supply the rated current specified in Table 4 1 3 2 4 Pin Strand colour Signal...

Страница 16: ...ing holes that can be used to mount the gripping module can be found in the technical drawing The following maximum torques and minimum screw in depths must be ob served during assembly Thread M2 base...

Страница 17: ...the accessory kit of the gripping module Figure 7 Mounting the fingers The recommended mounting materials are listed in Table 6 Position CLG 30 006 1 2 pcs Dowel pin ISO 2338 4h8 X 6 2 2 pcs Screw IS...

Страница 18: ...n Up to two different parame ter sets can be configured via IO Link to reliably grip multiple workpieces A position window is defined for each workpiece in which the gripper must adjust itself If the...

Страница 19: ...ay color as listed in Table 7 and Table 9 and the IO Link connection status is indicated by flashing or steady light of the display STATE Meaning green Ready for operation red Not ready Error LED flas...

Страница 20: ...parameterization of the gripping module is stored This memory is volatile i e the configuration data stored will be lost when turning off or disconnecting the power supply The gripping module must th...

Страница 21: ...X Table 9 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 should al...

Страница 22: ...ster 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 RES PARTLOST RES BYTE 3 7 6 5 4 3 2 1 0 RES TEMPWARN TEMPFAULT FAULT HOLDING NO PART RELEASED ID...

Страница 23: ...70 C can lead to malfunctions and permanent damage to the grip ping module FAULT Device error Bit 4 BooleanT If this bit is set the gripping module is in error state More detailed information on the...

Страница 24: ...ic process data are not stored permanently in the gripping module They must be re configured on the gripping module with each restart For this purpose common IO Link masters offer the op tion of stori...

Страница 25: ...peed in percent Reduces or increases the gripping speed automatically calculated from the specified gripping force The suitable gripping speed is automatically determined by the gripping module and is...

Страница 26: ...ping module performs its reference run chapter 9 3 to the outside By setting this value to TRUE the direction of the reference run can be reversed to make the gripping module refer ence to the inside...

Страница 27: ...ee Table 12 Example The nominal workpiece width when gripping from the outside is 7 mm the tolerance is selected as 2 mm Thus the NO PART LIMIT must be set to 5 mm which corresponds to a value of 500...

Страница 28: ...nal gripping force Set the value to 100 Gripping with minimum gripping force 6 Set the value to 25 8 2 2 3 Diagnostic Parameters Duration of the last successful gripping operation Returns the duration...

Страница 29: ...tocol memory comprises ten entries that can be read out via the device specific acyclic process pa rameters All entries are identical and are structured as follows The contents of the log memory are v...

Страница 30: ...be sent directly via the con figuration software of the IO Link master The available commands are listed below Restart the gripping module code 0x80 This command can be used to restart the gripping mo...

Страница 31: ...he heat dissipation from the gripping module should be checked Continued operation in case of a temperature error can lead to malfunctions and permanent damage to the gripping module 0x4210 Device Tem...

Страница 32: ...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 acti...

Страница 33: ...the finger position is yet unknown when the gripping module is switched on The module must be referenced before it can execute movement commands During the refer ence run the gripping module moves th...

Страница 34: ...osition with reduced force HOLDING HOLDING 1 Part is held The gripping module has been blocked between the RELEASE LIMIT and the NO PART LIMIT position and the base jaws do not move The workpiece is h...

Страница 35: ...et is selected via the grip index value transferred in the cyclic process data and executed with the gripping com mands GRIP or RELEASE For parameterization a position window is specified for each gri...

Страница 36: ...nt Danger of collision If the gripping range is not large enough workpieces that are too small or too large may be gripped although the gripping state is NO PART or RELEASED If in doubt please evalu a...

Страница 37: ...completed successfully the gripping module changes to the IDLE state After resetting the HOME bit the command selected by the CMD bit will be executed If an error occurs during referencing the FAULT...

Страница 38: ...error Figure 15 Gripping program sequence 9 8 Release Part In order to release a previously gripped workpiece or to open the fingers after an unsuccessful grip the pro gram sequence in Figure 16 must...

Страница 39: ...onding system event is triggered that describes the cause of the error in more detail see Table 13 To acknowledge an error the gripping module must be disabled and then enabled again Figure 17 shows t...

Страница 40: ...deactivate the gripping module The fin gers are then force free but the logic of the gripping module and the position detection are still active In this way for example gripping positions can be taugh...

Страница 41: ...workpiece is to be picked up by a gripping module positioned by a robot Choose a sufficiently large gripping range recommended distance between RELEASE LIMIT and NO PART LIMIT 2 mm to maximize the rel...

Страница 42: ...s are set either via the configuration software of the IO Link master or via the GRIPLINK U1 device configurator available from Weiss Robotics GRIP 0 NO PART LIMIT Index 0x60 Subindex 0x01 120 1 20 mm...

Страница 43: ...as GRIP 1 of the gripping module For this purpose the following parameters are set either via the configuration software of the IO Link master or via the GRIPLINK U1 device configurator available fro...

Страница 44: ...RELEASE LIMIT value To release the workpiece execute the program sequence in Figure 16 Since GRIP 1 has been config ured in this example grip index 1 must also be used when executing the above progra...

Страница 45: ...ctory Do not disassemble base jaws and belts The maintenance intervals must be adapted to the ambient and operating conditions The following factors must be taken into account Increased operating temp...

Страница 46: ...application parameters 11 2 Gripping module stops abruptly or does not travel the entire stroke Possible cause Remedy Parameterization incorrect Check parameterization Power supply interrupted Check...

Страница 47: ...tly Check environmental conditions Improve heat dissipation Shorten holding cycles or reduce gripping force Make sure that the base jaws are at a distance from the end stop in the RELEASED state Reduc...

Страница 48: ...EASE 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 RELEASE LIMIT in 1 100 mm 3 UIntegerT 8 Gripping force in p...

Страница 49: ...49 Table 15 Device specific process parameters...

Страница 50: ...e PLC so that you can access the PLC via PROFINET Then configure the ET200eco PN IO Link master see Figure 21 The IO Link master maps the cyclic process data of the gripping module in the I O address...

Страница 51: ...51 Figure 21 Configuration of the IO Link master Figure 22 Starting the S7 PCT Port Configurator Device Tool...

Страница 52: ...52 Figure 23 Configuration of the IO Link port...

Страница 53: ...tor establishes a connection to the IO Link master Selecting the gripping module in the tree view on the left loads the configuration of the grip ping module The Identification Parameters and Diagnost...

Страница 54: ...e set gripping parameters of the available grip presets These val ues can be adjusted to the handling task to be performed System commands can be started via buttons for example to reset the gripping...

Страница 55: ...Diagnostics tab Figure 26 shows various diagnostic data of the gripping module This information can only be read and provides information about the current status Figure 26 Diagnostic data of the gri...

Страница 56: ...ponding button is located in the Addresses tab in the configuration of the master Figure 27 The generated file can later be imported in the TIA Portal as an external source and converted into a data t...

Страница 57: ...achine may not be put into operation until it is confirmed that the machine into which the incomplete machine is to be installed meets the provisions of the Machinery Directive 2006 42 EC Applied harm...

Страница 58: ...ions in this document are subject to change without notice for product improvement Trademarks are the property of their respective owners Our products are not intended for use in life support systems...

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