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Summary of Contents for SCHUNK WSG Series
- Page 1 original software manual Fieldbus Interface Software manual Superior Clamping and Gripping...
- Page 2 Imprint Copyright: This manual remains the copyrighted property of SCHUNK GmbH & 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.
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Page 3: Table Of Contents
Table of contents Table of contents 1 Introduction ......................4 2 Interface ........................5 2.1 PROFIBUS ........................5 2.1.1 Installing the GSD file ..................5 2.1.2 Configuration ....................6 2.2 PROFINET ........................6 2.2.1 Installing the GSDML file ................6 2.2.2 Configuration .................... -
Page 4: Introduction
Introduction Introduction 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 V0 and/or PROFINET, dependent on the gripper type. -
Page 5: Interface
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. -
Page 6: Configuration
Interface 2.1.2 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. -
Page 7: Configuration
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. -
Page 8: Description
Description Description The Fieldbus interface of the gripper is implemented as 8-Byte output and 12-Byte input register files. 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. - Page 9 Description Byte Number Register Name Description Input User Flag 5 Input User Flag 6 Input User Flag 7 Input User Flag 8 2..3 WIDTH 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).
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Page 10: Input Registers (Wsg To Plc)
Description Input Registers (WSG to PLC) The input register space is transferred from the WSG to the Profi- bus Master or Profinet Controller 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. - Page 11 Description Byte Number Register Name Description Bit 5: Output User Flag 6 Bit 6: Output User Flag 7 Bit 7: Output User Flag 8 2..5 SYSSTATE System State Current system state of the gripper encoded as a bit vec- ( 5.2, Page 24).
- Page 12 Description Byte Number Register Name Description Bit 25 reserved Bit 26 reserved Bit 27 reserved Bit 28 reserved Bit 29 reserved Bit 30 reserved Bit 31 reserved 6..7 WIDTH Current Opening Width Current opening width of the fingers in 1/100 millimeters (i.e.
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Page 13: Diagnosis Messages Profibus
Description 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. -
Page 14: Commands
Commands 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. -
Page 15: Grasp - Grasp A Part
Commands GRASP - Grasp a part Grasp a part using its nominal width, the speed and the force limit at which 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. -
Page 16: Release - Release A Part
Commands 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. -
Page 17: Homing - Referencing The Gripper Fingers
Commands 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. -
Page 18: Stop/Ack - Stop Movement Or Acknowledge A Fast Stop
Commands STOP/ACK - Stop movement or acknowledge a FAST STOP With this command any pending movement stops immediately without disabling the drive. When stopping during holding a workpiece (i.e. the grasping state is HOLDING), the part monitor will be disabled and the grasping force will not be applied anymore. -
Page 19: Fast Stop - Raise A Fast Stop With Turning Off The Motor
Commands 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 (... -
Page 20: Jog+ And Jog- - Jog Mode In Positive And Negative Direction
Commands 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 JOG+ JOG-... - Page 21 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.
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Page 22: Fieldbus Monitor
Fieldbus Monitor Fieldbus Monitor The gripper has a built-in Fieldbus Monitor that can be accessed via the web interface (select “Diagnosis -> 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. -
Page 23: Appendix A: Status Codes
Fieldbus Monitor Appendix A: Status Codes Status Symbol name Description Code E_SUCCESS No error occurred, operation was successful E_NOT_AVAILABLE Function or data is not available E_NO_SENSOR No measurement converter is connected E_NOT_INITIALIZED Device was not initialized E_ALREADY_RUNNING The data acquisition is already running E_FEATURE_NOT_SUPPORTED The requested feature is currently not available E_INCONSISTENT_DATA One or more parameters are inconsistent... -
Page 24: Appendix B: System State Flags
Fieldbus Monitor 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. Bit No. Flag Name Description D31..2 reserved These bits are currently unused. - Page 25 Fieldbus Monitor Bit No. Flag Name Description SF_TEMP_WARNING Temperature Warning The flag is set if the gripper hardware will soon reach a critical temperature level. SF_FAST_STOP Fast Stop The flag is set if the gripper has been stopped due to an error condition.
- Page 26 Fieldbus Monitor Bit No. Flag Name Description SF_SOFT_LIMIT_MINUS 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.
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Page 27: Appendix C: Grasping States
Fieldbus Monitor Appendix C: Grasping States The following diagram illustrates the grasping states and transi- tions as intended to be used in normal operation. 01.00|WSG |en... -
Page 28: Appendix D: Demo Program
Fieldbus Monitor 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.
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