WEISS ROBOTICS GRIPLINK, Manual

Page 1: ...GRIPLINK PLUGIN FOR KUKA Version 1 0 0...

Page 2: ...Deactivate device DISABLE 12 3 5 Referencing the gripping module HOME 13 3 6 Gripping the workpiece GRIP 14 3 7 Simultaneous gripping of workpieces MGRIP 15 3 8 Release workpiece RELEASE 16 3 9 Simul...

Page 3: ...are used in this manual Functional or safety relevant information Non compliance may endanger the safety of personnel and the system damage the device or impair its function Additional information for...

Page 4: ...ge Please contact your network administrator if you experience any problems assigning appropriate IP addresses to the devices 1 4 License terms The GRIPLINK plug in is protected by copyright The softw...

Page 5: ...Preparation of the robot Copy the XML file GripLink xml into the folder C KRC ROBOTER Config User Common EthernetKRL of your robot controller This file path is only visible if you are acting as an exp...

Page 6: ...ile enter the IP address of the GRIPLINK 192 168 1 40 by default in the IP field and the port number 10001 accordingly in the PORT field If you have changed the IP address of the GRIPLINK Controller a...

Page 7: ...a WorkVisual Copy the GripLink_Kuka dat and GripLink_Kuka src files in WorkVisual to the program folder Then copy files to your robot using the Transfer changes option 2 3 2 Direct copy to robot contr...

Page 8: ...GRIPLINK controller the running robot program will be stopped by means of an error This usually interrupts and aborts any running motion of the robot In addition the connection between the robot cont...

Page 9: ...the corresponding subroutine must be called The basic program flow with the GRIPLINK plugin is always as follows 1 Establish connection with GRIPLINK_CONNECT 2 Activate gripping module or sensor with...

Page 10: ...file GripLink xml The command waits until the connection is established or a timeout occurs If the connected hardware or software is not compatible an error will be thrown If GRIPLINK ET4 commands are...

Page 11: ...port If a port is addressed before it has been activated an error will be raised and the program will be stopped Syntax GRIPLINK_ENABLE PORT Parameters PORT Index of the device port 0 to 3 Example Act...

Page 12: ...nstants with the corresponding numerical values have been defined which can be used instead of numbers Their names can also be seen in Appendix A Syntax GRIPLINK_GETSTATE PORT Parameters PORT Index of...

Page 13: ...GRIPLINK_ENABLE Syntax GRIPLINK_DISABLE PORT Parameters PORT Index of the device port 0 to 3 Example Change the gripping module at port 0 Connect to GRIPLINK GRIPLINK_CONNECT Activate gripper 0 GRIPL...

Page 14: ...the Home command has been executed the fingers of the gripping module are powerless and must be moved to a defined position with a Grip MGrip or Release MRelease command The reference run can be confi...

Page 15: ...T However if the device state corresponds to FAULT or a timeout occurs the running program is stopped The gripping parameters can be configured via the web interface of the GRIPLINK controller Syntax...

Page 16: ...ill be stopped The gripping parameters can be configured via the web interface of the GRIPLINK controller Syntax GRIPLINK_MGRIP INDEX PORT0 PORT1 PORT2 PORT3 Parameters INDEX Selected handle range dep...

Page 17: ...to FAULT the further program will be stopped The gripping parameters can be configured via the web interface of the GRIPLINK controller Syntax GRIPLINK_RELEASE PORT INDEX Parameters PORT Index of the...

Page 18: ...AULT state or a timeout occurs the program will be stopped Syntax GRIPLINK_MRELEASE INDEX PORT0 PORT1 PORT2 PORT3 Parameters INDEX Selected handle range depends on gripper model PORT0 Select port 0 1...

Page 19: ...FG PORT INDEX PARAM0 7 Parameter PORT Index of the device port 0 to 3 INDEX Index of the grip preset to be configured The number of available presets depends on the device type PARAM0 7 Device specifi...

Page 20: ...Vendor and Product ID Syntax GRIPLINK_DEVASSERT PORT VID PID Parameter PORT Index of the device port 0 to 3 VID Expected Vendor ID number This is assigned to the manufacturer by the IO Link user asso...

Page 21: ...to be specified Syntax GRIPLINK_VALUE PORT INDEX Parameter PORT Index of the device port 0 to 3 INDEX Index of the measured value to be queried The following applies to grippers from Weiss Robotics In...

Page 22: ...ediately when the power supply is restored even without referencing Furthermore CLAMP enables permanent gripping without the gripping module overheating This command activates or deactivates the gripp...

Page 23: ...of the Weiss Robotics CRG series Light patterns can be configured via the web interface of the GRIPLINK controller A controllable LED display is not available for all gripping modules Syntax GRIPLINK...

Page 24: ...mmand closes the active connection between the GRIPLINK controller and the robot controller according to the specifications in the GripLink xml Syntax GRIPLINK_DISCONNCECT Parameter none Example Disco...

Page 25: ...ripping state Code Constant NOT CONNECTED 0 GS_NOT_CONNECTED NOT INITIALIZED 1 GS_NOT_INIZIALIZED IDLE 2 GS_IDLE RELEASED 3 GS_RELEASED NO PART 4 GS_NO_PART HOLDING 5 GS_HOLDING PART LOST 6 GS_PART_LO...

Page 26: ...he speed of the used gripper parameterization 10 Check RELEASE statement and connection of the addressed port 11 Verify that the multitool statements address each port with 0 or 1 and no other number...

Page 27: ...rademarks are the property of their respective owners Specifications given in this document are subject to change without notice for the purpose of product improvement Trademarks are the property of t...