WEISS ROBOTICS GRIPLINK-ET4 Manual
  1. Manuals
  2. Brands
  3. WEISS ROBOTICS Manuals
  4. Media Converter
  5. GRIPLINK-ET4
  6. Manual

WEISS ROBOTICS GRIPLINK-ET4 Manual

Plug-in for epson
Hide thumbs Also See for GRIPLINK-ET4:
Table of Contents

Advertisement

Quick Links

Download this manual
GRIPLINK PLUG-IN FOR EPSON
Version 1.0.0

Advertisement

Table of Contents
loading

Related Manuals for WEISS ROBOTICS GRIPLINK-ET4

Summary of Contents for WEISS ROBOTICS GRIPLINK-ET4

  • Page 1 GRIPLINK PLUG-IN FOR EPSON Version 1.0.0...

  • Page 2: Table Of Contents

    Table of contents Introduction ........................2 Notation and symbols ......................2 Intended use ........................2 System requirements ......................2 License terms ........................3 Installation .......................... 4 Software installation ......................4 Network configuration ......................4 Workpiece detection and monitoring................. 5 Command set reference ..................... 7 Open connection - CONNECT ....................

  • Page 3: Introduction

    ROBOTICS can be controlled by robot controllers of all leading robot brands via simple TCP/IP network connections. The GRIPLINK plug-in for EPSON is the software link between the GRIPLINK-ET4 interface converter and the robot controller and enables the easy integration of WEISS ROBOTICS’ GRIPLINK technology into EPSON robot systems.

  • Page 4: License Terms

    1.4 License terms The GRIPLINK plug-in is protected by copyright. The software package includes the applicable license terms. By installing and using the GRIPLINK plug-in, the user accepts these license terms. - 3 -...

  • Page 5: Installation

    The IP address of the GRIPLINK is set to 192.168.1.40 by default and can be adjusted via its web interface. To do this, connect the GRIPLINK-ET4 to a PC or laptop and open the web interface in your favorite browser by entering http://192.168.1.40 into the address bar. You can access the IP settings by pressing the "Config"...

  • Page 6: Workpiece Detection And Monitoring

    Figure 1: Setting the IP address for the robot controller 2.3 Workpiece detection and monitoring Gripping modules from WEISS ROBOTICS have integrated workpiece detection and monitoring, which makes it possible to permanently monitor the entire gripping process without additional sensors, thus significantly increasing the reliability of the handling process.
  • Page 7 2.3.2 Workpiece monitoring After a workpiece has been gripped correctly, i. e. the HOLDING state has been reached, the integrated workpiece monitoring starts automatically on the gripping module. If the workpiece now gets lost or removed before the Griplink_Release() command (see chapter 3.11) is executed to release the workpiece intentionally, the status of the gripping module changes to PART LOST.

  • Page 8: Command Set Reference

    3 Command set reference The GRIPLINK plug-in provides a number of gripping functions. Both single and multi-gripper commands are available. Multi-gripper commands With the multi-gripper commands, several gripping modules can be addressed at once. These commands are particularly suitable for handling large or flexible workpieces with multiple gripping modules simultaneously.

  • Page 9: Open Connection - Connect

    Please note that the selected Port as well as the Task ID, Timer ID and SyncLock ID must be available exclusively for the GRIPLINK plug-in and must not be used anywhere else in the robot program. The IP address of the GRIPLINK-ET4 can be changed via the web interface. Signature Function Griplink_Connect(strIPAddr$ As String, intControllerPortNo As...

  • Page 10: Enable Drive - Enable

    3.2 Enable drive - ENABLE This command activates the gripping module and the connection monitoring. If the connection to the gripping module gets lost (e.g. due to a cable break), an error will be raised and the robot program will be stopped.

  • Page 11: Get Grip State - Get State

    3.3 Get Grip State – GET STATE This function returns the gripping state of the selected gripping module. The gripping state is provided as an integer value. To simplify and improve readability, the file Griplink.inc defines constants that can be used for processing gripping states. Signature Function Griplink_GetState(ubGripperID As UByte) As Integer Parameters...

  • Page 12: Read Gripping State From Global Variable

    3.4 Read gripping state from global variable The GRIPLINK plug-in provides four global status variables which, if a gripping module is connected and activated via Griplink_Enable(), permanently provide the gripping status of the respective gripping module as an integer value: 1.

  • Page 13: Disable Drive - Disable

    3.5 Disable drive - DISABLE This function can be used, for example, when using an automatic tool changer. It deactivates the drive of the selected gripping module. If the drive is deactivated, the connection monitoring is also switched off and an interruption of the connection between the GRIPLINK and the gripping module no longer leads to an error.
  • Page 14 Table 1: Grip States - 13 -...

  • Page 15: Disable Drives Of All Modules Connected - Disable All

    3.6 Disable drives of all modules connected – DISABLE ALL This function disables the drives of all connected gripping modules. It can be used for example in case of an emergency stop to switch off all gripping modules. If the drive is deactivated, the connection monitoring is also switched off and an interruption of the connection between the GRIPLINK and the gripping module does not lead to an error.

  • Page 16: Reference Gripper - Home

    3.7 Reference gripper - HOME References the selected servo gripper. The command executes a reference run of the gripping module and waits until it’s completed. After the command has been executed, the fingers of the gripping module are without force and must be moved to a defined position by using Griplink_Grip() / Griplink_MultiGrip() or Griplink_Release() / Griplink_MultiRelease().

  • Page 17: Reference Multiple Grippers - Mhome

    3.8 Reference multiple grippers – MHOME References the selected gripping modules. The function executes a reference run for all selected gripping modules and waits until it’s completed. After the command has been executed, the fingers of the gripping modules are without force and must be moved to a defined position by using Griplink_Grip() / Griplink_MultiGrip() or Griplink_Release() / Griplink_MultiRelease().

  • Page 18: Grip Part - Grip

    3.9 Grip part - GRIP Grips a workpiece with the selected gripping module and grip preset. The command waits until the gripping state changes to either "HOLDING" or "NO PART". The gripping parameters can be configured via the web interface of the GRIPLINK interface converter.

  • Page 19: Grip Part With Multiple Grippers - Mgrip

    3.10 Grip part with multiple grippers – MGRIP This function executes a grip command with the selected gripping modules. The function waits until all gripping modules have reached either "HOLDING" or "NO PART" state. The gripping parameters can be configured via the web interface of the GRIPLINK interface converter.

  • Page 20: Release Part - Release

    3.11 Release part - RELEASE Releases the workpiece previously gripped with the selected gripping module. The command waits until the workpiece has been released. The gripping parameters can be configured via the web interface of the GRIPLINK interface converter. Signature Function Griplink_Release(ubGripperID As UByte, ubGripIndex As UByte) As Integer Parameters...

  • Page 21: Release Part With Multiple Grippers - Mrelease

    3.12 Release part with multiple grippers – MRELEASE Releases the workpiece(s) gripped with the selected gripping modules. The function waits until all gripping modules have reached the RELEASED state. The gripping parameters can be configured via the web interface of the GRIPLINK interface converter.

  • Page 22: Get Finger Position - Get Position

    3.13 Get finger position – GET POSITION This command returns the current finger position of the selected gripping module. Signature Function Griplink_GetPos(ubGripperID As UByte) As Real Parameters ubGripperID Index of the gripping module (0 to 3) Return value Finger position in mm Example Read the current finger position of the gripper at port 0: Real rlPos...

  • Page 23: Control Gripping Force Retention - Permagrip

    3.14 Control gripping force retention - PERMAGRIP The innovative gripping force retention developed by WEISS ROBOTICS keeps up the gripping force on the workpiece, even if the power supply to the gripping module is interrupted unexpectedly. Thanks to the integrated absolute position sensors, production can be continued without a reference run after the power supply has been restored.

  • Page 24: Control Gripping Force Retention For Multiple Grippers - Mpermagrip

    3.15 Control gripping force retention for multiple grippers – MPERMAGRIP The innovative gripping force retention developed by WEISS ROBOTICS keeps up the gripping force on the workpiece, even if the power supply to the gripping module is interrupted unexpectedly. Thanks to the integrated absolute position sensors, production can be continued without a reference run after the power supply has been restored.

  • Page 25: Control Of The Led Display -Led

    3.16 Control of the LED display –LED This command changes the color and the pattern of the illuminated ring of a selected CRG gripping module. Light patterns and colors can be configured via the web interface of the GRIPLINK interface converter. This function is only available for CRG gripping modules.

  • Page 26: Error Handling

    4 Error Handling If a problem occurs within the GRIPLINK plug-in, an error will be raised on the robot controller. If this error won’t be caught by the user, the robot program will stop. A running robot motion will be completed before the robot stops.

  • Page 27: Handle Errors In Griplink Background Daemon

    errorHandler: MsgBox “Failed to execute grip command” For more information on error handling in SPEL +, please refer to the documentation of your EPSON robot controller. 4.2 Handle errors in GRIPLINK background daemon For continuous status monitoring of the connected gripping modules, the GRIPLINK plug-in starts a background program (daemon) which continuously queries and monitors the status of the connected gripping modules in a separate task independently of the rest of the robot program.
  • Page 28 © 2020 WEISS ROBOTICS GmbH & Co. KG. All rights reserved. GRIPLINK and PERMAGRIP are registered trademarks of WEISS ROBOTICS GmbH & Co. KG. All weiteren other brands are the property of their respective owners. The technical data mentioned in this document can be changed to improve our products without prior notice.

Table of Contents