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VIS – Visualization Index (Bit 15…13, UIntegerT)
This index selects one of eight preprogrammed visualization patterns for the luminous ring.
RES – Reserved data bits (bit 12…11)
These data bits are reserved and are currently not evaluated by the gripping module. Their value should
always be set to 0 by the master.
HOME - Reference gripping module (bit 10, BooleanT)
If this bit is set and the gripping module is activated (EN = 1), a reference run is performed. In normal
operation, this bit must be reset to 0. The reference run is described in chapter 9.3.
EN - Activate gripping module (bit 9, BooleanT)
This bit must be set so that movement commands can be executed. If the bit is not set, the drive 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 grip that has been selected via INDEX; otherwise the module releases a gripped part.
The actual direction of movement of the base jaws during GRIPPING and RELEASING is determined by
the parameters RELEASE LIMIT and NO PART LIMIT, which are stored in the acyclic process parameters
of the gripping module (cf. chapter 8.2.3).
INDEX - Grip index (bit 7…0, UIntegerT)
The grip index identifies one of four pre-parameterized grips (cf. chapter 9.6 and chapter 8.2.3), which
is used for executing the next gripping command.
8.1.2
Input Data (Gripping Module to IO-Link Master)
Table 9 describes the cyclic process data word (4 bytes), which is transmitted from the gripping module to
the IO-Link master.
