Related Manuals for WEISS ROBOTICS IEG Series
Summary of Contents for WEISS ROBOTICS IEG Series
- Page 1 Mounting and Operating Manual IEG Series - Electrical Gripping Modules with IO-Link Hardware Version: 1.02 October 2020...
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Page 2: Table Of Contents
Contents Introduction ...................... 4 Product Specification ....................4 Applicable Documents ....................4 Target Audience ......................5 Notation and Symbols ....................5 Basic Safety Notes....................5 Intended Use ........................ 5 Environmental and Operating Conditions ..............6 Product Safety ......................6 2.3.1 Protective Equipment ...................... - Page 3 Interface Description IO-Link ................20 Cyclic Process Data ..................... 20 8.1.1 Output Data (IO-Link Master to Gripping Module) ............. 20 8.1.2 Input Data (Gripping Module to IO-Link Master) ..............21 Acyclic Process Parameters and System Commands ............. 23 8.2.1 Remanent Storage of Acyclic Process Parameters .............. 23 8.2.2 Standardized Acyclic Process Parameters ................
- Page 4 10.2 Resetting the Maintenance Interval Count ..............48 Troubleshooting ....................49 11.1 The Base Jaws Do Not Move ..................49 11.2 Gripping Module Stops Abruptly or Does Not Complete the Entire Stroke ....49 11.3 No Communication with the Gripping Module............. 49 11.4 The Gripping Module Reports an Error ................
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Page 5: Introduction
This manual is an integral part of the gripping module and describes the safe and proper handling during all operational phases. It is valid solely for gripping modules of the IEG series and contains important infor- mation on assembly, commissioning, maintenance, and service. -
Page 6: Target Audience
Please find additional information about the warranty in our general terms and conditions, available online at https://www.weiss-robotics.com/en/general-terms-and-conditions. 1.3 Target Audience These instructions are targeted at plant manufacturers and operators, who should make this and other documents permanently available for the personnel and should also ask the personnel to read and observe particularly the safety instructions and warnings. -
Page 7: Environmental And Operating Conditions
Provide protective equipment according to the EC Machinery Directive. 2.3.2 Constructional Changes, Attachments, or Modifications Additional bore holes, threads, or attachments not offered by Weiss Robotics as accessories may be mounted only after obtaining the written approval of Weiss Robotics. -
Page 8: Personnel Qualification
2.4 Personnel Qualification The assembly, initial commissioning, maintenance, and repair of the module may be performed only by trained specialist personnel. Every person commissioned by the operator to work on the module must have read and understood the complete mounting and operating manual, especially chapter 2 “Basic safety notes”. This also applies to personnel that is only employed occasionally, e.g. -
Page 9: Scope Of Delivery And Accessories
4 Scope of Delivery and Accessories The scope of delivery comprises: • Gripping module IEG in the version ordered • Accessory kit (centering sleeves or dowel pins matching the module's diameter) • Quick guide IEG series Item IEG 55-020 IEG 76-030... -
Page 10: Technical Data
5 Technical Data 5.1 Nominal Mechanical Data Exceeding the specified nominal data may damage the module. If in doubt, please discuss your ap- plication with our technical sales department. Mechanical operating data Unit IEG 55-020 IEG 76-030 Total stroke Nominal gripping force (100%) Recommended minimum gripping force (25%) Max. -
Page 11: Gripping Force And Finger Speed
Figure 2: Determination of the finger length “L”. Left: straight fingers, right: angled fingers 5.1.2 Gripping Force and Finger Speed The gripping force can be set as a percentage of the nominal gripping force. The recommended minimum gripping force is 25% of the nominal gripping force. The gripping module sets the finger speed depending on the parameterized gripping force, see Figure 3. -
Page 12: Cycle Times
Gripping speeds exceeding 100% (override) lead to an increased gripping impulse that can damage the part that is being gripped and the gripping mechanism. 5.1.3 Cycle Times The following diagrams show the typical progression of gripping time and release time for different gripping force settings. -
Page 13: Max. Permitted Finger Load
5.1.4 Max. Permitted Finger Load The following table shows the maximum permitted static loads on the base jaw guide. Load Unit IEG 55-020 IEG 76-030 1890 26.0 23.6 Table 3: Static guide loads In the case of overlaid forces and torques, the carrying capacity of the guide must be recalculated according to the following equation: ��... -
Page 14: Nominal Electrical Data
5.2 Nominal Electrical Data Exceeding the specified nominal data may damage the module. If in doubt, please discuss your ap- plication with our technical sales department. Electrical operating data Unit IEG 55-020 IEG 76-030 Supply voltage 18 ... 30 Typ. current drawn (state IDLE) Max. -
Page 15: Name Plate
Wire color Signal Function brown Power supply +24 V white Reserved, do not connect. blue Power supply 0 V black IO-Link communication Figure 5: Pin assignment (view on connector) 5.3 Name Plate The name plate is on the transverse side of the gripping module and contains the serial number, the hardware version, and the exact type designation. -
Page 16: Installation And Commissioning
6 Installation and Commissioning Risk of injury due to unexpected movements of the machine. Disconnect the module from the pow- er supply during all maintenance work/adjustments and make sure the module is force-free. 6.1 Installation You can find the dimensions of the threads and centering holes that can be used to mount the module in the technical drawing of the respective build size. - Page 17 Screw ISO 4762 - M3 Screw ISO 4762 - M4 2 pieces 2 pieces Centering sleeve 6h6 x 5.5 Centering pin ISO 8734 - 1.5 m6 Weiss Robotics part number: 2090046 Table 6: Screws and centering sleeves - 16 -...
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Page 18: Functional Principle Of The Gripping Module
IEG series can be used for a multitude of applications in modern automation. The module is supplied with power and connected to the process control directly via the integrated IO-Link interface. Figure 9 shows the functional diagram of the IEG gripping modules. -
Page 19: Typical Application
7.1 Typical Application Figure 10 shows a typical control-side setup with IEG series gripping modules that are accessed via PLC and a decentralized IO-Link field bus coupler. If you need assistance in selecting the IO-Link components, please contact our technical support. -
Page 20: Non-Volatile Memory
Example Display flashes red: An error has occurred, and there is no IO-Link connection. Steady red light: An error has occurred, and the IO-link connection has been established. Operating State Display Figure 1: Operating State Display 7.3 Non-volatile Memory The gripping module has a non-volatile memory in which the following information is stored: •... -
Page 21: Interface Description Io-Link
8 Interface Description IO-Link The interface description of the IO-Link interface is defined in the IO-Link Device Description (IODD) file that belongs to the gripping module. The IODD file that is needed for the configuration of the gripping module can be found on our website at https://www.weiss-robotics.com/ieg under “Downloads”. 8.1 Cyclic Process Data Please pay attention to the byte order. -
Page 22: Input Data (Gripping Module To Io-Link Master)
The actual direction of movement of the base jaws during GRIPPING and RELEASING is determined by the parameters RELEASE LIMIT and NO PART LIMIT, which are stored in the acyclic process parameters of the gripping module (cf. chapter 8.2.3). INDEX - Grip index (bit 7…0, UIntegerT) The grip index identifies one of four pre-parameterized grips (cf. - Page 23 MAINT – Maintenance required (bit 7, BooleanT) Shows whether the maintenance interval of the gripping module has been reached. You can find in- formation on maintenance in chapter 10. If maintenance has been performed, the MAINT bit must be acknowledged via a system com- mand (cf.
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Page 24: Acyclic Process Parameters And System Commands
IDLE – Gripping module inactive (bit 0, BooleanT) When this bit is set, the gripping module is inactive and force-free. No gripping commands can be exe- cuted. For information on activating the gripping module, see chapter 9.6.1. 8.2 Acyclic Process Parameters and System Commands For the operation of the gripping module, several acyclic process parameters can be set and queried. -
Page 25: Standardized Acyclic Process Parameters
8.2.2 Standardized Acyclic Process Parameters Table 10 lists the acyclic process parameters defined in the IO-Link standard that are supported by the grip- ping module. You can find more information on the meaning and use of the individual parameters in the IO- Link System Description , which can be obtained from the IO-Link Community Index... -
Page 26: Motion Parameters
8.2.3.1 Motion Parameters Override Gripping Speed in Percent Decreases or increases the gripping speed, which has been automatically calculated from the specified gripping force. The necessary gripping speed is automatically determined by the gripping module and is optimized for a hard grip (steel on steel), see chapter 5.1.2. This predefined value is equivalent to 100%. -
Page 27: Grip Parameters
Reverse Reference Run Direction By default, the gripping module performs its reference run (chapter 9.3) outwards. By setting this val- ue to “TRUE”, the direction of the reference run can be reversed so the gripping module references inwards. Address Index 0x0040, Subindex 0x03 Data Type BooleanT Factory Setting... - Page 28 Data Type IntegerT(16) Factory Setting See Table 11 Example: The nominal gripping position during external gripping of a part is 7 mm; the tolerance is set to 2 mm. The NO PART Limit must therefore be set to 5 mm, and the parameter must be set to 500. RELEASE Limit Indicates the RELEASE Limit for the respective grip (prepositioning).
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Page 29: Virtual Position Switches
Factory Setting See Table 11. Example: Gripping with nominal gripping force: Set the value to 100. Gripping with minimal gripping force: Set the value to 25. 8.2.3.3 Virtual Position Switches The gripping module has four virtual position switches. All position switches have the same scope of func- tions and can be set up via following parameters: Switch Position Indicates the center position of the switching range in 1/100 mm. -
Page 30: Diagnosis Parameters
Example: The width of the switching range is 1 mm: Set the value to 100. 8.2.3.4 Diagnosis Parameters Duration of the Last Successful Gripping Operation Indicates the duration of the last successful gripping operation in milliseconds. Address Index 0x00A0, subindex 0x01 Data Type UIntegerT(16) Factory Setting... -
Page 31: Protocol Memory
Example: A read-out value of 451 means a temperature of 45.1 °C. Cycle Count Indicates the total count of gripping cycles performed. Since the gripping module only saves the cur- rent cycle count remanently after every 1000 cycles, the actual cycle count may differ from the dis- played count. -
Page 32: Extended Configuration Parameters
Address Index 0x0100 (oldest entry) to 0x0109 (newest entry), subindex 0x01 Data Type UIntegerT(32) Factory Setting 0 (0 s) Example: A read-out value of 110678 indicates that the logged event occurred 110678 seconds or approximately 31 hours after the start. Message Text Returns the message text of the protocol entry. -
Page 33: System Commands
Data Type UIntegerT(32) Factory Setting 20,000,000 8.2.4 System Commands System commands are issued by writing the respective code (1 byte) at index 0x02 of the standardized pro- cess parameters (cf. chapter 8.2.2). If necessary, the system commands can be issued directly via the con- figuration software of the IO-Link master. - Page 34 Code Event Description 0x0000 No Malfunction No more malfunction. Previous faults were resolved. Triggered when there is a general malfunction that cannot be speci- 0x1000 General Malfunction fied further, e.g. in the event of a restart after watchdog reset. Fur- ther information can be found in the event log, if applicable.
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Page 35: Control Of The Gripping Module
IO-Link master and the gripping module. The gripping module is also parameterized via IO-Link. This can be performed with the configuration soft- ware of the IO-Link master or with the DC-IOLINK device configurator by Weiss Robotics, which is available separately. -
Page 36: Position Sensors
9.2 Position Sensors The gripping module has an integrated position measurement system with which the position of the base jaws is measured relatively. The position value corresponds to the spacing of the two base jaws. The inner limit corresponds to the value 0 mm. Figure 11 shows the correlation between the position value and the position of the base jaws using the example of the IEG 76-030. -
Page 37: Gripping State
bly, it must be ensured mechanically that the fingers block in the position that is to be detected, e.g. by a mechanical end stop or by the gripped part. Merely traversing a position switch cannot be detected reliably due to the time-discrete sampling. 9.5 Gripping State Besides detecting end positions via virtual position switches (cf. -
Page 38: Parameterizable Grips
mand is executed and the gripping state changes accordingly. Every command leads to a change of state so the completion of a command can be identified by waiting for a change of state. Thus, the gripping state provides a simple opportunity to monitor the gripping process in the controlling PLC or robot control. -
Page 39: Gripping Direction
the gripping state HOLDING. When the base jaws reach the specified NO PART Limit, the gripping state changes to NO PART to signal that no part has been gripped. Grip Outside Grip Inside RELEASE Limit NO PART Limit RELEASE Limit NO PART Limit RELEASED HOLDING... -
Page 40: Initializing The Module And Performing A Reference Run
(Figure 13, “Gripping Outside”). When the position for the NO PART Limit is larger than that for the RE- LEASE Limit, the gripping module performs an outward grip (Figure 13, “Gripping Inside”). 9.7 Initializing the Module and Performing a Reference Run After it has been connected to the power supply, the gripping module is in the NOT INITIALIZED state. -
Page 41: Grip Part
9.8 Grip Part The program sequence for gripping a part isFigure 15. The gripping module must be initialized and activated before it can perform a grip (see chapter 9.6.1). The gripping direction depends on the parameterization of the respective grip. The module detects the end of the gripping process or an error by continuously moni- toring the gripping state. -
Page 42: Troubleshooting
Figure 17 shows the program sequence that is required to acknowledge an error. If the error cannot be acknowledged, try to restart the gripping module by temporarily disconnecting it from the power supply. If the error persists, please contact the technical support of Weiss Robotics. The gripping module may be defective. -
Page 43: Activating And Deactivating The Module (Setup Mode)
EN = 0, HOME = 0 CMD = 0 Force-free (motor currentless) IDLE = 1 ? EN = 1, HOME = 0 CMD = 0 Base Jaws moving RELEASED = 1 ? Error acknowledged Part released Figure 17: Program sequence acknowledging an error and releasing a part 9.11 Activating and Deactivating the Module (Setup Mode) Especially when setting up the gripping process, it may be advisable to deactivate the gripping module. -
Page 44: Design Of The Gripping Process
EN = 1, HOME = 0 EN = 0, HOME = 0 CMD = 0 CMD = 0 INDEX = [Grip Index] INDEX = 0 Base Jaws moving RELEASED = 1 ? IDLE = 1 ? Module active and Module inactive open Figure 18: Program sequence to activate (left) and deactivate (right) gripping module 9.12 Design of the Gripping Process... -
Page 45: Application Example External Gripping
21 N. For the IEG 55, this means the gripping force is set to 70%. The part is pa- rameterized as GRIP 0 of the gripping module. For this purpose, the following parameters are set via the configuration software of the IO-Link master or via the Weiss Robotics DC-IOLINK device configurator, which is available separately:... -
Page 46: Application Example Internal Gripping
be used in the program sequence. The gripping state is also visualized via the state display at the gripping module: In the released state, the state display's light is blue; if the part has been gripped correctly, the light changes to green. 9.12.2 Application Example Internal Gripping In a mounting process, a plain bearing bush is to be picked up and inserted with an IEG 55-020. -
Page 47: Function Block For Siemens Tia Portal
If the module is parameterized via DC-IOLINK, the parameterized values must be stored remanently in the gripping module before it is deactivated, see chapter 8.2.1. If the gripping module has been restarted, it must first perform a reference run. In this example, it makes sense to perform an outward reference run (factory setting) since the fingers project slightly beyond the inner edge of the base jaws. -
Page 48: Maintenance And Cleaning
10 Maintenance and Cleaning Damage to the gripping module due to inadequate lubrication possible. Perform some idle strokes traversing the whole movement range every 1000 gripping cycles and at least once a day to ensure an even distribution of the lubricant in the guides. Maintenance interval: Every 2 million cycles Scope of maintenance: Cleaning the motion system and checking the gripping module Clean the gripping module in regular intervals with a dry cloth to remove all dirt and possible splinters. -
Page 49: Needs-Based Maintenance
• High-dynamics operation • Effects from foreign substances (e.g. vapors, acids, etc.) The guides are lubricated for life. In individual cases, it might be necessary to relubricate them. Con- tact our support if you need advice. 10.1 Needs-based Maintenance When the maintenance function is activated, the gripping module triggers a system event when the maintenance interval has been reached. -
Page 50: Troubleshooting
• Restart the gripping module. If the error occurs again, send the gripping module to Weiss Robotics with a repair order. • Send the gripping module to Weiss Robotics with a repair or- Failure of a component, e.g. through over- der. -
Page 51: The Gripping Module Reports An Error
This error occurs when the base jaws do not move despite a move- ment command. If this error occurs repeatedly, the drive is defec- Motion error tive. Send the gripping module to Weiss Robotics with a repair or- der. The temperature inside the gripping module exceeds 70 °C. It is strongly recommended to stop the gripping module and only start it again after it has significantly cooled down. -
Page 52: Appendix A - Device-Specific Process Parameters
12 APPENDIX A - Device-specific Process Parameters Table 14 lists the device-specific process parameters of the gripping module. A detailed description can be found in chapter 8.2.3. Index Function Access Subindex Data type Description Factory setting Override gripping Read/write UIntegerT(8) speed in percent Override traverse Motion... - Page 53 Index Function Access Subindex Data type Description Factory setting Switch position in IntegerT(16) 1/100 mm Virtual posi- 0x0092 Read/write tion switch 2 Switching width in UIntegerT(16) 1/100 mm Switch position in IntegerT(16) 1/100 mm Virtual posi- 0x0093 Read/write tion switch 3 Switching width in UIntegerT(16) 1/100 mm...
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Page 54: Appendix B - Configuration Example
13 APPENDIX B - Configuration Example Below the configuration of Integration Line gripping modules via IO-Link with a suitable IO-Link master at a PLC is described. Control Elements Used • SPS SIEMENS Simatic S7-1200 1212C DC/DC/Rly version 4, article number 6ES7 212-1HE40-0XB0 •... - Page 55 Figure 22: Configuration of the IO-Link master Figure 23: Starting the S7-PCT port configurator (device tool) - 54 -...
- Page 56 Figure 24: Configuration of the IO-Link port - 55 -...
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Page 57: Configuration Of The Gripping Module
13.3 Configuration of the Gripping Module The gripping module can now be parameterized via the S7-PCT port configurator. By clicking on “Online” (IO-Link port selected in the selection tree on the left), the port configurator establishes a connection to the IO-Link master. -
Page 58: Parameterization Of The Gripping Module
13.4 Parameterization of the Gripping Module The “Parameter” tab (Figure 26) shows the gripping parameters of the four available grips as well as the settings of the four virtual position switches. These values can be adjusted to your individual application. The system commands can be issued via buttons, e.g. -
Page 59: Diagnosis
13.5 Diagnosis The “Diagnosis” tab (Figure 27) shows various diagnosis data as well as the event log memory of the grip- ping module. This information can be read only. The “Diagnosis” tab provides information on the current state of the gripping module. Logged events can also be displayed. Figure 27: Diagnostics data of the gripping module in S7-PCT - 58 -... -
Page 60: Ec Declaration Of Incorporation
14 EC Declaration of Incorporation According to EC Machinery Directive 2006/42/EG, appendix II B Manufacturer Weiss Robotics GmbH & Co. KG Karl-Heinrich-Käferle-Str. 8 D-71640 Ludwigsburg Distributor Weiss Robotics GmbH & Co. KG Karl-Heinrich-Käferle-Str. 8 D-71640 Ludwigsburg We hereby declare that the following product:... - Page 61 © Weiss Robotics GmbH & Co. KG. All rights reserved. The technical data mentioned in this document can be changed to improve our products without prior no- tice. Used trademarks are the property of their respective trademark owners. Our products are not intend-...