Summary of Contents for WEISS WSG 32
- Page 1 Mounting and Operating Manual Electrical Compact Gripper WSG 32 Firmware Version: 4.0.0 Hardware Version: 1 July 2015...
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Page 3: Table Of Contents
Contents Introduction ...................... 3 About this manual ..................... 4 Applicable documents ....................4 Target audience ......................4 Notation and symbols ....................4 Basic safety notes ....................6 Intended use ........................ 6 Environmental and operating conditions ............... 6 Product safety ......................6 3.3.1 Protective equipment ...................... - Page 4 Electrical connection ....................24 Installation of the fingers .................... 26 Initial startup......................26 Changing the IP address and using DHCP ..............29 Operation ......................30 Operating software ....................30 Memory card ......................30 Boot process ......................31 Display of operating state ................... 31 Status word and gripper state ..................
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Page 5: Introduction
Introduction The WSG 32 is an electrical 2-Finger Compact Gripper. It has an integrated control unit supporting the Inter- faces: Ethernet TCP/IP, CAN-Bus (optional), PROFINET (optional) and Modbus/TCP (optional). Figure 1 shows the components and connectors of the module. The configuration of the module is done via a Web- Interface supporting almost every common web browser. -
Page 6: About This Manual
Before using the product, read and note the instruction, especially chapter 3 "Basic safety notes". This manual is exclusively valid for the gripper type WSG 32. 2.1 Applicable documents... - Page 7 Reference to further information. - 5 -...
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Page 8: Basic Safety Notes
Basic safety notes 3.1 Intended use The module was designed to grip and to temporarily and securely hold work pieces and objects. The module is intended for installation in a machine/system. The requirements of the applicable guidelines must be observed and complied with. ... -
Page 9: Constructional Changes, Attachments, Or Modifications
3.3.2 Constructional changes, attachments, or modifications Additional drill holes, threads, or attachments that are not offered as accessories by Weiss Robotics may be attached only with permission of Weiss Robotics. 3.3.3 Special standards The following standards are met: Fast transients on supply and I/O lines (burst) to IEC / EN 61000-4-4 ... - Page 10 Remove the energy supplies before installation, modification, maintenance, or adjustment work. Make sure, that no residual energy remains in the system. Perform maintenance, modifications, and additions outside the danger zone. For all work, secure the unit against accidental operation. ...
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Page 11: Warranty
Warranty The warranty is valid for 24 months from the delivery date to the production facility under the following conditions: Intended use in 1-shift operation Observe the mandatory maintenance and lubrication intervals. Observe the environmental and operating conditions. Parts touching the work piece and wearing parts are not part of the warranty. -
Page 12: Scope Of Delivery
Scope of delivery The scope of delivery includes: WSG 32-068 servo-electric 2-finger parallel gripper Operating manual CD with documentation and firmware - 10 -... -
Page 13: Accessories
Centering sleeves, 06.0x5.35, outer diameter 6h6, item no. ZH-6.0-5.35 PROFINET RT (software license), OPT-WSG-PN Universal Finger WSG-F Force Measurement Finger WSG-FMF Tactile Sensing Finger WSG-DSA Please order accessories separately. More accessories can be found on our web site www.weiss- robotics.com. - 11 -... -
Page 14: Technical Data
Technical Data 7.1 Outer dimensions Figure 2: Outer dimensions - 12 -... -
Page 15: Nominal Mechanical Data
7.2 Nominal mechanical data Exceeding the specified nominal data can damage the module. If in doubt, please discuss your ap- plication with our technical sales department. Mechanical Data Unit Min. Typ. Max. Remark Stroke per finger Nominal gripping force Minimum gripping force Gripping speed 5 mm/s, finger length 55 mm, steel... -
Page 16: Mechanical Finger Load
Acceleration: 5000 mm/s² Finger position (mm) Figure 4: Typical finger acceleration, gripping force: 50 N, finger mass: 2x 0.1 kg 7.2.1 Mechanical Finger Load The following table shows the maximum load of the finger. The specified load may be applied simultane- ously and in addition to the gripping force. -
Page 17: Gripping Force
Figure 5: Mechanical finger load 7.2.2 Gripping force The gripping force is defined as the effective force acting between the fingers multiplied by the number of fingers in contact with the part to be grasped. To operate the gripping module without force measurement fingers, the gripping force is calibrated during the manufacturing process. - Page 18 Gripping Force (N) Figure 6: Recommended gripping speed (steel on steel, finger length 40 mm) The diagram above is considered as a recommendation. If in doubt, please try out and measure the actual force for your application. F = 25N F = 50N Clamping height [mm] Figure 7: Gripping force over clamping height diagram...
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Page 19: Nominal Electrical Data
Definition of the nominal gripping force To determine the nominal gripping force, the module is non-positively mounted to an aluminum plate, see Figure 8. The plate itself is thermally insulated from the underlying surface. With an ambient temperature of 22° C the module can hold with the nominal gripping force for at least 5 hours. Figure 8: Arrangement for ascertaining the nominal gripping force ... -
Page 20: Fuse
7.3.1 Fuse The module has an integrated fuse to protect against short circuits and incorrect polarity. To have the fuse changed, please contact an authorized sales partner. 7.3.2 Power supply and CAN-Bus (optional) Power is supplied via a 6-way M8 connector on the modules housing, which also carries the optional CAN- Bus interface. -
Page 21: Can-Bus (Optional)
Black Shielding Shield Figure 10: Pin assignment of the Ethernet connector (view on the socket). The following cables from Weiss Robotics are suitable to connect the Ethernet interface: Type: AL-ETH-4P-3M (M8 straight to RJ-45, cable length: 3 m) ... -
Page 22: Base Jaw With Sensor Port
The sensor port supports the automatic configuration of the connected fingers. To use this function, a con- figuration memory must be integrated into the fingers. All of the intelligent fingers offered by Weiss Robot- ics for this gripper (e.g. force measurement finger WSG-FMF) already have this memory integrated and are completely configured, so that you just have to fit this finger to the module. - Page 23 Figure 11: Sensor port Matching centering sleeves Matching centering sleeves are supplied with the fingers. For your own designs or as a spare part, please use the centering sleeves which are available as accessories under item no. ZH-6.0-5.35, described as: cen- tering sleeve 06.0 x 5.35 (outer diameter: 6h6).
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Page 24: Name Plate
Configuration bus – clock line not connected Operating voltage output 5V/200mA max. Mass 7.4 Name plate The name plate is on the narrow side of the module above the connector. Part-Type: WSG 32 Serial-No.: XXXXX www.weiss-robotics.com Figure 12: Name plate - 22 -... -
Page 25: Installation
Installation 8.1 Installation instructions Risk of injury because of electrical energy! Warning: Risk of injury when the machine/system moves unexpectedly! Remove energy supplies during all maintenance work and adjustments. 8.2 Mechanical connection The threads that can be used to mount the module and the centering holes are shown in Figure 13. The module has both M3 and M4 threads for fixing on the rear of its housing, as well as 6 mm centering holes. -
Page 26: Electrical Connection
Figure 13: Mechanical connection Do not exceed maximum torque: M3 threads = 1.0 Nm MAX, M4 threads = 2.0 Nm MAX 8.3 Electrical connection As supplied, the module is configured so that the M8 connector carries both the power as well as the logic parts for the integrated gripper control system. - Page 27 Gripper Module +24V DRIVE +24V LOGIC Control Stage Power Stage Figure 14: Equivalent circuit for the power supply Power Supply Gripper Module 24V / 5A +24V DRIVE +24V LOGIC Figure 15: Connection type common supply to load and logic Force off Power Supply Gripper Module 24V / 5A...
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Page 28: Installation Of The Fingers
If load and logic are operated separately, always use the same power supply. 8.4 Installation of the fingers To install the standard fingers, please use the fixing material supplied with the fingers. The centering sleeves supplied with the fingers must be used during the installation. This is particularly necessary if the finger has an electrical interface to the sensor port as otherwise the sensor port's connector can be dam- aged. - Page 29 To directly operate the module on your computer's network connection, you may have to alter your computer's network configuration. If in doubt, contact your system administrator. 2. Connect your module with the power supply (24 V, 3 A). 3. The module will now start up. The indicator for the operating state will light up blue and after about 5 seconds it will start flashing quickly blue.
- Page 30 7. Once the movements associated with zeroing have finished, for test purposes, you can move the module via the web interface. For this, select the movement parameters about the adjuster and then click on the "Move" button. Important: The module must be zeroed tob e able to execute movement commands. 8.
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Page 31: Changing The Ip Address And Using Dhcp
8.6 Changing the IP address and using DHCP To change the module's IP address, in the web interface, select the "Settings” → “Network" menu option. Adjust the IP address, subnet masks and any gateway or DNS server addresses for your local network and confirm the changes by clicking on the "Apply"... -
Page 32: Operation
To guarantee proper operation, the latest version of the firmware should always be installed in the module. The latest firmware can be downloaded free of charge from www.weiss-robotics.de. The module has to be registered before download. 9.2 Memory card The module’s control unit is equipped with a tray for Micro SD memory cards. -
Page 33: Boot Process
The memory card contains the following data: the software needed to operate the module configuration data documentation and software tools (to be downloaded from the web interface) scripts and other user-specific data in the /user directory The factory-installed card has a capacity of 2 GB. - Page 34 Figure 21: Display of operating state The following operating states are indicated: State Display Loading the operating software Blue, constantly on The module loads the firmware and gets ready to start There was an error loading the operating software Red for about 5 seconds, then blue again The boot process will automatically be restarted The boot process for the operating software Blue, flashing...
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Page 35: Status Word And Gripper State
More LEDs indicating SD card and communication activity can be found next to the SD card slot under the cover plate with the Weiss Robotics logo (cf. Figure 20). A constant lightning of the respective LED indicates that the interface is active. The LEDs flash in the rhythm of the interface activity or data traffic. -
Page 36: Gripper State
Gripper state Fast Stop System state Figure 22: Web Interface side bar with system state 9.5.2 Gripper state The gripper state reflects the current state of the gripper and is used to control the process of gripping. It can take the following states: State Description The gripper is in its idle state... - Page 37 The gripper is opening RELEASING The gripped part is being released, the fingers are moving. Pre-positioning POSITIONING The grippers are being pre-positioned and the fingers are moving. Error An error occurred carrying out the last command. For errors which require ERROR acknowledgment, the SF_FAST_STOP flag is also set in the system status word.
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Page 38: Homing The Module
Make sure that the fingers can actually move freely in the reference drive direction up to the mod- ule’s mechanical limit. Due to the integrated damping elements at the outer limit, the WSG 32’s position accuracy is bet- ter when homing to the inside. ... -
Page 39: Software Limit Switch
Damage to the gripper is possible due to insufficient lubrication (dry-running) if the gripper con- stantly goes through short movements. → every 1000 movements (or at least once per day) the gripper should be moved through its full range of travel. ... -
Page 40: Fast Stops Requiring Acknowledgment
GRIPPER MODULE Prohibited Prohibited Area Area Prohibited Area Working Range Working Range Software Limit MINUS Software Limit PLUS Figure 25: Software limits The software limits can be set via the command interface, a script or the web interface (“Settings” → “Mo- tion Configuration”). -
Page 41: Log Memory
is acknowledged and any fault condition has been cleared, with corresponding error codes being returned (access denied). If the module is in Fast Stop state, power will be removed from the drives but the position reference will be retained. The error can be acknowledged both via the command interface (the command is: Acknowledging a Fast Stop or fault Condition, 24h) as well as manually by clicking on the "Ack"... -
Page 42: Monitoring The Drive Current
Loss of gripping force on temperature error! This error can only be acknowledged if there is no longer a temperature error. The command to read out the current housing temperature and the command to acknowledge the Fast Stop via the command interface are documented in the "WSG Command Set Reference Manu- al". -
Page 43: Configuration And Diagnosis Via The Web Interface
will show the error state. Hysteresis is used to prevent the states chattering to and fro. If there is a voltage error, the power output stage will be switched off using a Fast Stop and a voltage error will be indicated. Acknowledging the FastStop is possible only if the operating voltage is back in its allowed range. -
Page 44: Access Restrictions For The Web User Interface
Figure 27: Web interface for configuration and diagnosis Via integrated help texts, the module’s web interface is intuitive to use. In the upper area you will find a menu bar via which the individual pages can be called up. 9.15 Access restrictions for the web user interface Depending on the network configuration, the module will be visible to everyone in the entire network and the configuration can thus be altered unchecked. -
Page 45: Command Interface
Administrator Administrator. Can adjust all of the module’s settings without restriction. If access restrictions have been activated, then the module will record which user logs in and when. Figure 28: Login screen 9.16 Command interface The module supports control via TCP/IP, UDP, CAN-Bus (optional), PROFINET (optional) and Modbus/TCP (optional). -
Page 46: Scripting
The command interface is selected and configured via the module's web interface, via the menu option "Settings” → “Command Interface". 9.17 Scripting The module‘s control unit has an integrated interpreter for the Lua programming language, via which you can adapt the module's software to your application. The programs (scripts) are saved on the integrated SD card and can be run automatically when the module starts. - Page 47 Request the status word with the command “Get System State (40h)“.On error, see section “deal- ing with errors” below. 2. Pre-position finger Execute the command "Pre-Position Fingers (21h)". Parameters: Opening width and speed. The gripper state changes to "POSITIONING". Wait until the gripper state is "IDLE". Request the gripper state with the command "Get Grasping State (41h)".
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Page 49: Maintenance And Cleaning
10 Maintenance and cleaning The maintenance and lubrication intervals must be adapted to the ambient and operating conditions. The following factors should be taken into account here: Extreme operating temperatures The effects of condensation High vibration loading ... -
Page 50: Troubleshooting
A component is broken, e.g. due to Replace component or send the module with a repair order to Weiss overloading Robotics. Make sure that the module was only used within its de- fined application parameters. -
Page 51: No Connection To The Web Interface
11.3 No connection to the web interface Possible cause Remedy Power supply interrupted Check the power supply. Communication with the module is Check the connections and communications cable. not possible Check the network settings in the module. ... -
Page 52: Ec Declaration Of Incorporation
The special technical documents according to Annex VII, Part B, belonging to the incomplete machine have been created. Person responsible for documentation: Dr.-Ing. Karsten Weiss, Tel.: +49(0)7141/642062-6 Location, Date/Signature: Ludwigsburg, January 2013 Details of the signatory: Weiss Robotics GmbH &... - Page 53 © Weiss Robotics GmbH & Co. KG. All rights reserved. The technical data mentioned in this document can be changed to improve our products without prior notice. Used trademarks are the property of their respective trademark owners. Our products are not intended for use in life sup-...