21-
8
Interface Description IO-Link
The interface description for the IO-Link interface is defined in the device description file (IODD file) associ-
ated with the gripping module. The device description file (IODD file) required for configuring the gripping
module can be found on our website at
https://www.weiss-robotics.com/clg/
in the "Downloads" section.
8.1
Cyclic Process Data
Note the byte order. The data is transferred in big-endian format according to the IO-Link standard.
8.1.1
Output Data (IO-Link Master to Gripping Module)
Table 9 describes the cyclic process data (2 bytes) that the gripping module expects from the IO-Link master.
BYTE 0
15
14
13
12
11
10
9
8
RES
HOME
EN
CMD
BYTE 1
7
6
5
4
3
2
1
0
INDEX
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
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. The reference run is described in chapter 9.3
EN - Activate gripping module (bit 9, BooleanT)
This bit must be set in order to be able to execute movement commands. If the bit is not set, the drive
is deactivated and the fingers are force-free.
CMD - Gripping command (Bit 8, BooleanT)
This bit controls the gripping and releasing of workpieces. If the bit is set, the gripping module grips with
the grip preset selected via INDEX, otherwise the gripping module releases the workpiece that has been
gripped.
