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WEISS ROBOTICS GRIPLINK Manual

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GRIPLINK PLUG-IN FOR EPSON
Version 23.0.0
November 2021

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Summary of Contents for WEISS ROBOTICS GRIPLINK

  • Page 1 GRIPLINK PLUG-IN FOR EPSON Version 23.0.0 November 2021...

  • Page 2: Table Of Contents

    Table of contents Introduction ........................Notation and symbols ......................Intended use ........................System requirements ......................License terms ........................Installation .......................... Software installation ......................Network configuration ......................Command set reference ..................... Open connection - CONNECT ....................Close Connection – DISCONNECT ..................Enable device - ENABLE ....................

  • Page 3: Introduction

    - 2 -...

  • Page 4: 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 5: 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. - 4 -...

  • Page 6: Installation

    IP address of the GRIPLINK-ET4. 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.

  • Page 7: Command Set Reference

    Figure 1: Setting the IP address for the robot controller - 6 -...

  • Page 8: Command Set Reference

    3 Command set reference The GRIPLINK plug-in provides a number of functions to control gripping modules from WEISS ROBOTICS as well as sensors and actors from several third-party vendors. Both single and multi-gripper commands are available. Multi-gripper commands With the multi-gripper commands, several actors 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

    To open a network connection, one of 16 available so-called Ports (range 201 to 216) on the robot controller must be selected. To control timing conditions when communicating with the GRIPLINK, a Timer provided by the robot controller will be used. The ID of this Timer can be selected freely within the allowed range.

  • Page 10: Close Connection - Disconnect

    This command closes a connection that has been established previously by the Griplink_Connect() function. Signature Function Griplink_Disconnect() Parameters Return value Example Open a connection to the GRIPLINK with IP address 192.168.1.40 by using Port 201 and Timer 0: Griplink_Disconnect() - 9 -...

  • Page 11: Enable Device - Enable

    3.3 Enable device - ENABLE This command activates the device connected to the given port of the GRIPLINK. Griplink_Enable() must be called after Griplink_Connect() for all connected gripping modules. If GRIPLINK commands are executed before Griplink_Enable() is executed, an error will be raised and the robot program will be stopped.

  • Page 12: Disable Device - Disable

    3.4 Disable device - DISABLE This command deactivates the device connected to the given port of the GRIPLINK. This function can be used, for example, when using an automatic tool changer. If a gripping module from WEISS ROBOTICS is connected, it deactivates the drive of the selected gripping module, e.g. when using a tool changer.

  • Page 13: Get Device State - Devstate

    3.5 Get Device State – DEVSTATE This function returns the device state of the selected device. The device 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.

  • Page 14: Get Device State Of All Devices - Mdevstate

    3.6 Get Device State of all devices – MDEVSTATE This function returns the device state of all connected devices. The device 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.

  • Page 15: Reference Gripper - Home

    Griplink_Grip() / Griplink_MultiGrip() or Griplink_Release() / Griplink_MultiRelease(). The direction of the reference run can be configured via the web interface of the GRIPLINK interface converter. Signature Function Griplink_Home(ubDevicePort As UByte)

  • Page 16: 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 17: 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 18: Release Part - Release

    3.10 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...

  • Page 19: Release Part With Multiple Grippers - Mrelease

    3.11 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. Signature...

  • Page 20: Get Sensor Value - Value

    3.12 Get sensor value – VALUE This command returns current measured value of a connected sensor. If a WEISS ROBOTICS gripping module is connected, the command can be used to read the current finger position in micrometers. If more than one sensor value per device is available, the desired value can be selected by using the parameter ubIndex.

  • Page 21: Control Gripping Force Retention - Clamp

    3.13 Control gripping force retention - CLAMP The innovative gripping force retention PERMAGRIP® developed by WEISS ROBOTICS keeps up the gripping force on the workpiece, even if the power supply to the gripping module is interrupted unexpectedly. PERMAGRIP® also enables permanent gripping without the gripping module overheating.
  • Page 22 3.14 Control of the LED display –LED This command changes the color and the pattern of the illuminated ring of a selected WEISS ROBOTICS CRG gripping module. Light patterns and colors can be configured via the web interface of the GRIPLINK interface converter.

  • Page 23: Configure Grip Settings - Gripcfg

    Array of 8 configuration parameters For servo-electric gripping modules from Weiss Robotics, parameter 0 represents the no part limit in micrometers (µm), parameter 1 represents the release limit in micrometers (µm) and parameter 2 represents the gripping force in percent, multiplied by a factor of 1000.
  • Page 24 Device’s IO-Link Vendor ID intDeviceID Device’s IO-Link Device ID Return value Example Check, if a gripper of type IEG55-020 (Device ID 20) by Weiss Robotics (Vendor ID 815) is connected to port 2: #include “Griplink.inc” Griplink_DevAssert(2, 815, 20) - 23 -...

  • Page 25: 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. Any running robot motion will be completed before the robot stops.
  • Page 26 For more information on error handling in SPEL +, please refer to the documentation of your EPSON robot controller. - 25 -...

  • Page 27: Device States

    5 Device States Device State Constant Code Description NOT CONNECTED DS_NOT_CONNECTED Port not connected NOT INITIALIZED DS_NOT_INITIALIZED Device not initialized DISABLED DS_DISABLED Ready for operation, not active RELEASED DS_RELEASED Workpiece released NO PART DS_NO_PART Workpiece not found HOLDING DS_HOLDING Holding workpiece OPERATING DS_OPERATING Ready for operation, active...
  • Page 28 - 27 -...
  • Page 29 © 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.

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