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Fieldbus Interface WSG

1. 01 00 WSG en SCHUNK o7 Table of contents Table of contents 1 MNEPO DUCTION iussnascdvasicnnvnciansvsdapsanneiundes tedesasaninnicanesiyaapesialdennsanrdaanasisaannseniuannsdehinn ene 4 DZ WCU ACC E E E E E E A 5 2 1 PROFIBUS snsiisspesi onsere ao A E EEEE 5 2 1 12 I stalling the GSD fileiras keier 5 2 12 Configuratio saastuich xesasanavanescenveceaasheneitectuesetanavcedtcicevesbewsteactductymapeabormentanuesnen 6 2 2 PROFINE Torsen a EENE R S 6 2 2 1 Installing the GSDML TiO issccctaiscinctssicansicnsneacbannsadssiietencvassctstaadesectaesnadssuinens 6 2 2 2 Configurati i me oe eT een eee ee eter ee eee nae een eT ene eee eee ree 7 BD DSSCUI COD EE E E eden dnencernasens ealanentennaaeaen 8 3 1 O tp t Registers PLC to W5G ans cscosssteadaiintsonsvaaest sonctenepunrtes ini t 8 3 2 Input Registers WSG to PLC ssssessssssnssssssesrsssersseresesresseesseressseesseresereessressreeseeea 10 3 3 Diagnosis Messages PROFIBUS sssssssssssesssersrssssrsssrsesennresnnennnnnnnnnnnennnnnnennenena 13 4 Commands sicansssiveincwuiisvexsessseaenacceuacasdasupouacosmenssusseienauveeamedeedeenwontmeaneuseadsansayausudeeenes 14 4 1 MOVE Move the gripper fingers cccesssccecssssececessseeceeeeseeseceessaeeeeeeeeeneeeeeeses 14 42 GRASP Graspa part eeror eona ea n En EENEN EEN mean EE Ua EEN 15 4 3 RELEASE Release a patt wacuccssancstnetcavvasbastaeasdneprasphsnetadedundeuanawendenaseninccntanescntanaense 16 4 4
2. SCHUNK o7 01 00 WSG Jen Description 3 Description The Fieldbus interface of the gripper is implemented as 8 Byte output and 12 Byte input register files 3 1 Output Registers PLC to WSG The output registers are transferred from the Profibus Master or Profinet Controller e g PLC to the WSG They consist of com mand flags user flags and three parameters and are used to con trol the gripper Due to the register space oriented nature of Pro fibus and Profinet only a subset of the WSG s command set is available via this interface Grouping of Output Registers Byte Number _ Register Name CMDFLAGS Command Flags A command is issued when changing the corresponding bit from 0 to 1 raising edge 4 Page 14 Bit index Name Description Acknowledge a FAST STOP must be acknowledged Jog Mode in positive direction Jog Mode in negative direction NOTICE If the FASTSTOP or STOP ACK bit is set to 1 the motion commands are disabled 1 IF User Flags input Free programmable flags that can be used in conjunction with the Script Interpreter o f mputuserFag 3 IF4 a fra Input userFlaga 01 00 WSG en SCHUNK o7 Description Byte Number _ Register Name FORCELIMIT Command parameter Width New finger opening width in 1 100 millimeters i e a val ue of 1220 means 12 20 mm Encoded as INT signed Command parameter Speed Current movement speed in 1 100 millimeters per se
3. Negative direction soft limit reached The flag is set if the fingers have reached the defined soft limit in negative moving direction A further movement into this direction is not allowed any more This flag is cleared if the fingers are moved away from the soft limit position SF_BLOCKED_PLUS Axis is blocked in positive moving direction The flag is set if the axis is blocked in positive moving di rection The flag is reset if either the blocking condition is resolved or a stop command is issued D2 SF_BLOCKED_MINUS_ Axis is blocked in negative moving direction The flag is set if the axis is blocked in negative moving direction The flag will be reset if either the blocking condition is resolved or a stop command is issued SF_MOVING The Fingers are currently moving This flag is set whenever a movement is started e g MOVE command The flag will reset automatically as soon as the movement stops SF_REFERENCED Fingers Referenced The flag is set when the gripper was referenced by a HOMING command Only after homing motion commands can be executed 3 Overdrive mode is not supported by all grippers Please refer to the assembly and oper ating manual of the gripper for further information 01 00 WSG en SCHUNK o7 Fieldbus Monitor 5 3 Appendix C Grasping States The following diagram illustrates the grasping states and transi tions as intended to be used in normal operation An execution __ err
4. Grasping Force Current Grasping Force Current grasping force in 1 100 Newton i e a value of 405 means a grasping force of 40 5 N This is twice the nominal force that is currently applied to a part Encoded as INT This register is updated every bus cycle with the current grasping force regardless of the currently processed command NOTICE If no Force Measurement Finger is installed on the WSG this value is approx imated using the motor current 10 11 Status Code Result of the last Command This field holds its state until a new command is issued 7 5 1 Page 23 Overdrive mode is not supported by all WSG grippers Please refer to the User s Manual for further information 01 00 WSG en SCHUNK o7 Description 3 3 Diagnosis Messages PROFIBUS If at least one of the following error related flags of its system state was raised i e changes from 0 to 1 the gripper will send di agnosis messages as the first double word to the PROFIBUS Master The diagnosis messages containing the current system state flags SF_SOFT_LIMIT_MINUS SF_SOFT_LIMIT_PLUS SF_FAST_STOP SF_TEMP_FAULT SF_POWER_FAULT SF_CURR_FAULT SF_FINGER_FAULT SF_CMD_FAILURE SF_SCRIPT_FAILURE More detailed description of these flags 5 2 Page 24 The format of the diagnosis message SCHUNK Coj Standard Diagnostic Data Diagnostic Data as defined by the PROFIBUS Spe cification Slave Ident No Slave Identification Number This is 0x55
5. Profibus Master Byte Byte Description Value indie MOVE DLE GRASP GRASPING RELEASE NO_PART HOMING PART_LOST oO e pee aie ated one Flags STOP ACK State HOLDING FASTSTOP RELEASING JOG POSMONING JOG Fi OF1 F2 OF2 F3 OF3 F4 OF4 1 COh User Flags 1 00h User Flags F5 OFS F of F7 OF7 ers OFS 2 00h 2 00h 3 oon Width 0 00 mm 3 oh System 00000000h 4 00h Speed a ooh State mms 5 00h 5 00h 6 00h 6 00h Current Force Limit 0 00 N Opening 0 00 mm 7 00h 7 00h width 8 00h Grasping 0 00 9 00h Force 10 00h Error Code E_SUCCESS u 00h F u 01 00 WSG en SCHUNK Ce Status Code 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 SCHUNK Coj Fieldbus Monitor 5 1 Appendix A Status Codes E_CMD_PENDING No error but the command was not completed yet Another return message will follow including a status code if the function has completed 01 00 WSG en Fieldbus Monitor 5 2 Appendix B System State Flags The system state flags are arranged as a 32 bit wide integer value that is provided via the Profibus Input Registers Each bit has a special meaning listed below D31 2 These bits are currently unused 1 SF_SCRIPT_FAILURE Script Error The flag is set if an error occurred while executing a script and the script has been aborted The flag is reset whenever a script is started SF_SCRIPT_RUNNING A script is currently running The flag is s
6. the part should be grasped When the command is issued the gripper moves its fingers to the no minal part width and tries to clamp the expected part with the pre viously set grasping force If the gripper can establish the desired grasping force within the defined clamping travel a part is grasped If the fingers fall through the clamping travel without establishing the grasping force no part was found and the grasping state is updated accordingly The clamping travel can be set using the WSG s web inter face The grasping state is updated with the result of this operation ei ther PART_HOLDING or NO_PART as well as the grasping statistics If no part was found the command s result is set to E_CMD_FAILED After successfully grasping a part the integrated part monitoring is enabled which supervises the grasping force If a part is removed from the gripper before issuing the RELEASE command the gripper detects it and changes the grasping state to PART_LOST NOTE You may reduce the grasping speed with sensitive parts to limit the impact due to the mass of the gripper fingers and the internal mechanics Command Flag Position Bit 1 Parameters used WIDTH SPEED FORCELIMIT Status Code The STATUS CODE register is set to E_CMD_PENDING upon start of the movement and set to the command s result when it has finished Grasping State GSTATE During finger movement the grasping state is set to GRASPING If a part was found
7. 55 for the WSG Length of Diagnostic Message Diagnosis messages of the WSG are always 10 Bytes OxOA System State Current system state of the gripper encoded as a bit vector Same coding as SYSSTATE register 01 00 WSG en Commands 4 4 1 01 00 WSG Jen Commands MOVE Move the gripper fingers This command can be used to position the gripper fingers To move the gripper fingers to a defined width before issuing a grasp command a prepositioning may be initiated via this com mand The command is intended to speed up grasping of sensitive parts when the gripper fingers have to travel a larger distance due to process constraints MOVE can only be issued if the gripper is idle i e grasping state is IDLE Command Flag Position Bit O Parameters used WIDTH SPEED Status Code The STATUS CODE register is set to E_CMD_PENDING upon start of the movement and set to the command s result when it has fi nished Grasping State GSTATE The grasping state changes to POSITIONING when starting to move and back to IDLE when finished In case of an error the grasping state is set to ERROR System State SYSSTATE Various transitions will occur You should use the GSTATE register to evaluate the current state of the grasping process unless you have very special requirements SCHUNK Cej Commands 4 2 GRASP Grasp a part Grasp a part using its nominal width the speed and the force limit at which
8. CELIMIT Status Code The status code register is set to E_CMD_PENDING upon start of the movement and set to the command s result when it has fi nished SCHUNK Cej SCHUNK cej Commands Grasping State During finger movement the grasping state is set to RELEASING When the end position is reached or in case of an error the grasping state is set to IDLE System State Various transitions will occur You should use the grasping state to evaluate the current state of the grasping process unless you have very special requirements 01 00 WSG en Fieldbus Monitor 5 Fieldbus Monitor The gripper has a built in Fieldbus Monitor that can be accessed via the web interface select Diagnosis gt Fieldbus Monitor from the menu The monitor displays the current content of the input and output registers and gives some basic information about the bus state thus making it easy to embed it in a Profibus or Profinet based in dustrial environment WSG 50 Control Panel SCHUNK e Settings Diagnostics Scripting Motion Help Profibus State idie Postion nia Speed 0 0 mmis Bus State Force 0 0N Station Address Ack The Station Address is used to communicate with the device On a Profibus network 7 each node needs a unique Station Address Bitrate 1 5 MB s Profibus Bitrate automatically detected Interface state Online VO Register View Output Register Profibus Master to WSG Input Register WSG to
9. HOMING Referencing the gripper fingers esssssessssssserrsesrrsssseerreresreessserreesesrees 17 4 5 STOP ACK Stop movement or acknowledge a FAST STOP cccsscceesseceesseeeees 18 4 6 FAST STOP Raise a Fast Stop with turning off the MOtOr ss ssssssssssesssssssesrreresreee 19 4 7 JOG and JOG Jog Mode in positive and negative direction seesssssssseeserreeseeee 20 5 Fieldbus MONON sesisasecssacecessvinsivasssssncesavsvonauscsenvesnuasnesvensusassavevnissisaneyeuiseveesenssenseses 22 5 1 Appendix A Status CO SS opicicscscirdes Sccnceccetencdccedsticeicrienateedeameatunneenednimravemnonmencaennes 23 5 2 Appendix B System State Flags cccssssccecssssnececssseeeeceesseeeeeeseseeeceessaeeeeeesenees 24 5 3 Appendix C Grasping States ssssssesssessseertssesreesssrrttstettertssrtttsteteenrssretstenrenesset 27 5 4 Appendix D Demo Prog rai ieccniscsscascectitesse stenoses thasseanssdenvaststeueanseedsaeasadsbennssedvenn 28 SCHUNK o7 01 00 WSG Jen Introduction 1 Introduction 01 00 WSG Jen The following manual contains the description of the fieldbus in terfaces PROFIBUS and PROFINET This manual assumes that you are familiar with the PROFIBUS and or PROFINET technology and the Siemens SIMATIC software The WSG family of grippers provides interfaces to CAN bus PROFI BUS DP VO and or PROFINET dependent on the gripper type All grippers contain an Ethernet TCP IP as parametrisation and commu
10. K ce Commands 4 4 HOMING Referencing the gripper fingers This command provokes a homing to reference the position of the gripper fingers A homing is necessary before executing any movement com mands If homing is carried out in the direction in which a better positioning accuracy is required the best positioning result is achieved During homing the fingers will move to the mechanical end stop The homing sequence has to be configured on the Settings gt Mo tion Configuration page of the web interface You can set the di rection of homing inbound or outbound as well as enable auto matic homing on startup NOTE During homing soft limits are disabled Obstacles in the move ment range of the fingers and collisions with these during homing may result in a wrong reference point for the finger position Command Flag Position Bit 3 Parameters used none Status Code The STATUS CODE register is immediately set to E_CMD_PENDING and to the command s result when it has finished Grasping State GSTATE During homing the grasping state is IDLE System State SYSSTATE During movement the MOVING flag is set to 1 If the gripper is re ferenced the REFERENCED flag is set to 1 SCHUNK o7 01 00 WSG Jen Commands 4 5 01 00 WSG en STOP ACK Stop movement or acknowledge a FAST STOP With this command any pending movement stops immediately without disabling the drive When stopping during hol
11. ains the following files e GSDML VX XX Weiss Robotics WSG XXXXXXXX gsdml device description file e GSDML 02A2 0001 WSG bmp visualization file Follow these steps to install the GSD file in Siemens STEP7 11 0 1 Unzip the package and store the files above to your disk 2 Inthe Siemens TIA open the project view 3 Select Options gt Install general station description file GSD 4 Point to the location where you stored the unzipped package on your disk 5 You will now find the WSG in the Device Catalog under Other field devices gt PROFINET IO gt I O gt Weiss Robotics GmbH amp Co KG SCHUNK Cej Interface 2 2 2 Configuration To use the WSG s PROFINET interface it must first be enabled via the device s web interface Further configuration options can be set either directly on the WSG using its web interface to change IP address or PROFINET device name However PROFINET also allows various configuration options to be set remotely using an engi neering tool like e g Siemens STEP7 Please refer to the documentation of your engineering tool NOTE Changing the WSG s IP address settings remotely using an engi neering tool The device s web interface might become inaccessi ble if the PROFINET connection gets lost It is strongly recommended to change these settings only via the WSG s web interface Further information is contained in the assembly and operating manual of the gripper
12. cond i e a value of 3005 means 30 05 mm s given as finger speed relative to each other Encoded as WORD unsigned NOTICE Setting this parameter to a value beyond the system limits and triggering a motion related function using it raises a FAST STOP Command parameter Force Limit New grasping force limit in 1 100 Newton i e a value of 1050 means 10 50 N The grasping force is twice the no minal force that is applied to the part to be grasped Encoded as INT signed only positive values are allowed NOTICE Setting this parameter to a value beyond the system limits and triggering a motion related function using it raises a FAST STOP To initiate a command the command parameters have to be set up and the respective command flag has to be changed from 0 to 1 i e a raising transition Jog Mode flags are level sensitive A detailed de scription of the specific commands can be found in 7 3 2 Page 10 NOTE If more than one command flag was changed simultaneously only the command with the lowest bit number is executed i e setting both MOVE and GRASP flags from 0 to 1 will result in a MOVE command Changing parameters while fingers are moving i e MOVING in the system flags is 1 will result in a FAST STOP SCHUNK 01 00 WSG en Description 3 2 Input Registers WSG to PLC The input register space is transferred from the WSG to the Profi bus Master or Profinet Contro
13. ding a workpiece i e the grasping state is HOLDING the part monitor will be disabled and the grasping force will not be applied anymore If the WSG is in FAST STOP mode a transition from 0 to 1 is re quired on this flag to acknowledge and to return in normal operat ing mode You have to reset the FASTSTOP flag before acknowl edging it Command Flag Position Bit 4 Parameters used none Status Code The STATUS CODE register is set to E_SUCCESS Grasping State GSTATE The grasping state is set to IDLE System State SYSSTATE The AXIS_STOPPED flag is set to 1 If acknowledging a FAST STOP the FASTSTOP flag is cleared SCHUNK ce Commands 4 6 FAST STOP Raise a Fast Stop with turning off the motor This function is similar to an Emergency Stop It immediately stops any movement the fastest way disables the drive and prevents further motion related commands from being executed The FAST STOP state can only be left by issuing a FAST STOP Acknowledge 4 5 Page 18 All motion related commands are prohibited during FAST STOP and will produce an E_ACCESS_DENIED error The FAST STOP state is indicated in the system flags and logged in the system s log file The FAST STOP command should in general be used to react on certain error conditions To simply stop the current movement you may want to use the STOP command instead NOTE The drive can be enabled again using the web interface However i
14. e WSG_R bmp visualization file e WSG_S bmp visualization file e install txt installation notes Follow these steps to install the GSD file in Siemens STEP7 11 0 1 Unzip the package and store the files above to your disk 2 Inthe Siemens TIA open the project view 3 Select Options gt Install general station description file GSD 4 Point to the location where you stored the unzipped package on your disk 5 You will now find the WSG in the Device Catalog under Other field devices gt PROFIBUS DP gt Drives gt Weiss Robotics GmbH amp Co KG 01 00 WSG en Interface 2 1 2 2 2 2 2 1 01 00 WSG en Configuration To be able to use the interface PROFIBUS it first has to be selected via the web interface The station address of the PROFIBUS is pre set to 7 but may be changed via the web interface Further information is contained in the assemply and operating manual of the gripper PROFINET PROFINET and PROFIBUS use the same I O register space layout The I O space is periodically updated and uses a pre defined profile which is installed at the PROFINET controller e g PLC The profile can be found on the Product CD or downloaded from the web interface The I O register space is described in detail in 7 3 Page 8 Installing the GSDML file NOTE The GSDML file can be installed in Siemens STEP7 v11 0 TIA and newer The GSDML file is provided as a ZIP compressed package that con t
15. et if a script is executed The flag is reset if the script either terminated normally a script error occurred or the script has been terminated manually by the user SF_CMD_FAILURE Command Error The flag is set if the last command returned an error SF_FINGER_FAULT Finger Fault The flag is set if the status of at least one finger is set from OPERATING to NOT CONNECTED Please check the finger flags for a more detailed error description SF_POWER_FAULT Power Error The flag is set if the power supply is outside the valid range The power supply has to be checked and adapted if ne cessary SF_TEMP_FAULT Temperature Error The gripper hardware has reached a critical temperature level All motion related commands are disabled until the temperature falls below the critical level 01 00 WSG en SCHUNK o7 D16 SF_CURR_FAULT Engine Current Error The flag is set if the engine has reached its maximum thermal power consumption At the same time a FAST STOP is set The flag will be reset automatically as soon as the engine has recovered The FAST STOP has to be acknowledged Fieldbus Monitor SF_TEMP_WARNING Temperature Warning The flag is set if the gripper hardware will soon reach a critical temperature level D12 SF_FAST_STOP Fast Stop The flag is set if the gripper has been stopped due to an error condition The drive is switched off and the execu tion of all motion commands is disabled You have to acknowledge the error
16. in order to reset this flag and to re enable motion related commands D11 10 reserved These bits are currently unused SF_FORCECNTL_MODE Force Control Mode The flag is set if the true force control is currently enabled by using the installed force measurement finger If this flag is not set the grasping force is controlled by approximation based on the motor current SF_OVERDRIVE_MODE Overdrive Mode The flag is set if the gripper is in overdrive mode The grasping force can be set to a value up to the overdrive force limit If this bit is not set the grasping force cannot be higher than the gripper s nominal grasping force value D7 SF_TARGET_POS_REAC Target position reached The flag is set if the target position was reached This flag is not synchronized with SF_MOVING so it is possible that there is a delay between SF_MOVING being reset and SF_TARGET_POS becoming active SF_AXIS_STOPPED Axis stopped The flag is set if a previous motion command has been aborted using the STOP ACK command This flag is reset on the next motion command SF_SOFT_LIMIT_PLUS Positive direction soft limit reached The flag is set if the fingers have reached the defined soft limit in positive moving direction A further movement into this direction is not allowed any more This flag is cleared if the fingers are moved away from the soft limit position SCHUNK o7 01 00 WSG en Fieldbus Monitor SF_SOFT_LIMIT_MINUS
17. it changes to HOLDING If no part was found the Grasping State is set to NO_PART If a part was removed after it was clamped the grasping state is set to PART_LOST In case of an error the grasping state is set to ERROR System State SYSSTATE Various transitions will occur You should use the GSTATE register to evaluate the current state of the grasping process unless you have very special requirements SCHUNK o7 01 00 WSG Jen Commands 4 3 01 00 WSG en RELEASE Release a part This command is used to release a part by opening the fingers with a given speed and width The part will not be pinched This is ensured by successively in creasing the internal force limit only when moving away from it The part monitoring is disabled before releasing it The gripper s nominal force is used for release Command Flag Position Bit 3 Parameters used WIDTH SPEED Status Code The STATUS CODE register is set to E_CMD_PENDING upon start of the movement and set to the command s result when it has fi nished Grasping State GSTATE During finger movement the grasping state is set to RELEASING When the end position is reached the grasping state is set to IDLE In case of an error the GSTATE is set to ERROR System State SYSSTATE Various transitions will occur You should use the GSTATE register to evaluate the current state of the grasping process unless you have very special requirements SCHUN
18. ller each cycle It contains the cur rent gripper parameters its operating and grasping state user de fined flags as well as a status code representing the result of the last command grouping Input Register Byte Number _ Register Name GSTATE Grasping State These flags encode the current grasping state as below and are intended to control and monitor the grasping process command wards the part but then lost Bit 5 RELEASING Fingers moving away from the part Bit 6 POSITIONING Fingers moving due to a pre position command MOVE 1 OF User Flags output Freely programmable flags that can be used to interact between the PLC code and a running WSG Script Output User Flag 5 01 00 WSG en SCHUNK o7 Description Byte Number Register Name 25 SYSSTATE System State Current system state of the gripper encoded as a bit vec tor 5 2 Page 24 This register is updated every bus cycle with the system state flags regardless of the cur rently processed command Please note that the system state flags should not be used to control the grasping process Use the grasping state instead SCHUNK o7 01 00 WSG en Description eee Byte Number _ Register Name WIDTH Current Opening Width Current opening width of the fingers in 1 100 millimeters i e a value of 1220 means 12 2 mm Encoded as INT This register is updated every bus cycle with the current opening width regardless of the currently processed command
19. nication interface The description of the parametrisation and communication inter faces CAN bus and Ethernet TCP IP are contained in the software manual Command Set Reference Further information is contained in the assembly and operating manual of the gripper SCHUNK ce SCHUNK Coj 2 2 1 2 1 1 Interface Interface Each gripper is displayed via an I O register space which is periodi cally synchronized with the PROFIBUS master or the PROFINET controler e g PLC Interfaces are selected and configured via the web interface of the gripper To enable this function the gripper must be connected with a local company network or directly connected with a net work interface of a computer or laptop Further information can be found in the assembly and operating manual of the gripper and in the software manual Command Set Reference PROFIBUS PROFIBUS and PROFINET use the same I O register Each PROFIBUS slave has an I O register space that is periodically updated and read by the PROFIBUS Master The O Space of the gripper is pre configured at master side by using the device profile Further infor mation on the particular I O register 3 Page 8 Installing the GSD file NOTE The GSD file can installed in Siemens STEP7 v11 0 TIA and newer The GSD file is provided as a ZIP compressed package that contains the following files e WEIS5555 gsd device description file e WSG_D bmp visualization file
20. or occurred ERROR in any state Release width reached Fast Stop acknlowledge N 4 ad C d o part detected at E H given width and within NO PART FOUND Release clamping range Command L Part detected and Position grasping force reached established Pre positioning Command Release PART LOST Command Release Command Stop Command Issuing a Stop Command in any state except ERROR will abort the current action and immediately return to IDLE state SCHUNK o7 01 00 WSG Jen Fieldbus Monitor 5 4 01 00 WSG en Appendix D Demo Program NOTE The demo project is intended for testing purposes only Do not use it in any production environment The gripper is provided with a simple demo project for Siemens SIMATIC S7 1200 controls The program can be downloaded from the CD The program has been implemented and tested on a CPU of type 1212C with the Profibus module CM1243 5 using the Siemens STEP7 Basic v11 0 SP2 TIA Portal project environment It will ex ecute an endless loop of a simple gripping cycle consisting of pre positioning the gripper jaws grasping a part releasing and return ing to the start position If a part is detected the gripper will hold it for a short moment In case of an error the gripper will execute a homing sequence and restart from the beginning Please note that the gripper must be referenced before running the program The PLC is configured in the project to
21. original software manual Fieldbus Interface WSG Software manual Superior Clamping and Gripping SCHUNK GOR Imprint Imprint Copyright This manual remains the copyrighted property of SCHUNK GmbH amp Co KG It is solely supplied to our customers and operators of our products and forms part of the product This documentation may not be duplicated or made accessible to third parties in particu lar competitive companies without our prior permission Technical changes We reserve the right to make alterations for the purpose of technical improvement Document number 0389732 Edition 01 00 18 09 2015 en SCHUNK GmbH amp Co KG All rights reserved Dear customer congratulations on choosing a SCHUNK product By choosing SCHUNK you have opted for the highest precision top quality and best service You are going to increase the process reliability of your production and achieve best machining results to the customer s complete satisfaction SCHUNK products are inspiring Our detailed assembly and operation manual will support you Do you have further questions You may contact us at any time even after purchase Kindest Regards Yours SCHUNK GmbH amp Co KG Spann und Greiftechnik Bahnhofstr 106 134 D 74348 Lauffen Neckar SEED Tel 49 7133 103 0 K a aN Fax 49 7133 103 2399 Fou wm sNet info de schunk com wr www schunk com Reg No 003496 QMO08 Reg No 003496 QMO08 Q D
22. t is required to reset the FAST STOP flag on the PROFIBUS inter face to enable motion related commands again Command Flag Position Bit 5 Parameters used none Status Code The STATUR CODE register is set to E_SUCCESS Grasping State GSTATE The grasping state is set to IDLE System State SYSSTATE The FASTSTOP flag is set to 1 SCHUNK o7 01 00 WSG Jen Commands 4 7 01 00 WSG en JOG and JOG Jog Mode in positive and negative direction This command is used to move the gripper fingers manually to set up a process The Jog Flags are evaluated level sensitive and allow a constant speed drive of the fingers using two switches on the PLC Interpretation of the Flags Movement direction Jog Mode is disabled positive with SPEED negative with SPEED If the Jog change to both 0 the Jog mode is left and the drive is stopped The force limit current controlled only as well as the speed can be passed as parameters You may consider using a hand wheel to control them Be aware that high movement speed may interfere with a low force limit setting NOTE In contrast to other motion related commands the SPEED Para meter can be set to 0 resulting in an internal clamping of the value to the minimum gripper speed NOTE The Jog Mode is intended only to set up a process Do not use the Jog Mode in normal operation of the gripper Command Flag Position Bit 6 and 7 Parameters used SPEED FOR
23. use IP address 192 168 1 250 and Profibus address 2 The gripper is expected to use Profibus address 7 default These settings may be changed according to your requirements NOTE It might be useful to open the Fieldbus Monitor on the gripper s web interface when running the program to get more information on possible problems SCHUNK Cej

Fieldbus Interface WSG

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