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Input resistance CAN-L and
CAN-H
Differential input resistance
Connecting the module to CAN-Bus
CAN networks must have a defined termination at the first and last participant of the bus. The module
comes with a factory-set optional termination, see ordering information in chapter 6.
There is no electrical isolation on the CAN-Bus!
7.3.5 Base jaw with sensor port
The module has an integrated sensor port in each of the base jaws which makes it easy to connect intelli-
gent gripper fingers. The sensor port makes the following interfaces available:
UART (LVTTL levels)
SPI (LVTTL levels)
Digital I/O pin (LVTTL levels)
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. The fingers will then be auto-
matically detected the next time the system starts.
The sensor port supplies an operating voltage of 5 V ±10% at max. 200 mA. The supply voltage is protected
against short circuits and can be switched on and off from the gripper control system. A short circuit in the
supply voltage will trigger an error state which must be acknowledged.
The power supply from the sensor port is not suitable to supply actuators.
The gripper control system may be destroyed by excess voltage on the sensor port pins.
The digital pins on the sensor port are protected against electrostatic discharge. However, we still recom-
mend that you should not directly touch the pins on the connector with your fingers, to avoid damage from
electrostatic discharge. The SPI and UART digital interfaces share transmit and receive pins. The configura-
tion memory determines which function is active.
Should you require detailed specifications of the sensor port to implement your own fingers,
please contact Weiss Robotics.
kΩ
20
kΩ
40
- 20 -
50
100
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