WEISS ROBOTICS GRIPLINK-ET4 Manual
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- Operating instructions manual (38 pages) ,
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Summary of Contents for WEISS ROBOTICS GRIPLINK-ET4
- Page 1 GRIPLINK PLUG-IN FOR ABB Version 1.0 December 2022...
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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 Add-In Installation ....................... 4 Add the Add-In to an existing project ................. 4 Network configuration ......................8 Command Set Reference .................... -
Page 3: Introduction
The GRIPLINK plug-in for ABB is the software link between the GRIPLINK interface converter and the robot controller and enables the easy integration of WEISS ROBOTICS’ GRIPLINK technology into ABB robot systems. This manual describes the functions of the GRIPLINK plug-in. For information about installation and operation of the GRIPLINK interface converter please refer to the GRIPLINK user’s manual. -
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
(cf. Figure 1). Figure 1 2. In the toolbar, click on “Install Package” and select the Weiss Robotics GRIPLINK Add-In you previously downloaded. The add-in will be installed and should now be available in the “Installed Packages”... - Page 6 Figure 2 3. Select the controller of your previously opened or created project. This can also be a virtual controller. Note that you might have to adjust the search path for virtual controllers in the preferences on the left (Figure 3). 4.
- Page 7 Figure 4 6. Choose “Griplink” and click “OK” (Figure 5) Figure 5 7. Select “Next” until you get to the “Options” panel. Select “Applications” from the tab list and make sure “Griplink” is selected. Click next and finish the dialogue. Close the Installation Manager (Figure 6).
- Page 8 Figure 6 8. For the new settings to take effect, you’ll have to restart your controller (Figure 7). After that, the functions described below will be available for use. Figure 7: Restart controller - 7 -...
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Page 9: Network Configuration
2.3 Network configuration The connection between the GRIPLINK and the robot controller is established via TCP/IP networking. To use TCP/IP networking, the robot controller must have an IP address that is compatible with the address assigned to the GRIPLINK. Please refer to the documentation of your ABB robot system to find out how to set an appropriate IP address for your robot controller. -
Page 10: 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 11: Open Connection - Connect
3.1 Open connection - CONNECT This command establishes the connection between the GRIPLINK interface converter and the robot controller. It will also check the command protocol version supported and will raise an error on protocol version mismatch. The IP address of the GRIPLINK can be changed via the web interface. Signature PROC WRO_GriplinkConnect( string stIPAddr ) Parameters... -
Page 12: Close Connection - Disconnect
3.2 Close Connection – DISCONNECT This command closes a connection that has been established previously by the WRO_GriplinkConnect() procedure. Signature PROC WRO_GriplinkDisconnect() Parameters Return value Example Disconnect GRIPLINK from the robot controller: WRO_GriplinkDisconnect; - 11 -... -
Page 13: Enable Device - Enable
3.3 Enable device - ENABLE This command activates the device connected to the given port of the GRIPLINK. Note that not all devices have to be enabled explicitly before use. The command, however, can be useful to re-enable a device that previously has been disabled with the DISABLE command to acknowledge an error. Signature PROC WRO_GriplinkEnable( num nDevIdx ) Parameters... -
Page 14: 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 15: 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, pre-defined constants are available that can be used when processing device states. Signature PROC WRO_GriplinkDevState( num nDevIdx, VAR num nDevState ) Parameters... -
Page 16: Reference Gripper - Home
3.6 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 WRO_GriplinkGrip() / WRO_GriplinkMultiGrip() or WRO_GriplinkRelease() / WRO_GriplinkMultiRelease(). -
Page 17: Grip Part - Grip
3.7 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 18: Grip Part With Multiple Grippers - Mgrip
3.8 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 19: Release Part - Release
3.9 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 PROC WRO_GriplinkRelease( num nDevIdx, num nGripIdx ) Parameters nDevIdx... -
Page 20: Release Part With Multiple Grippers - Mrelease
3.10 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 21: Wait For State Transition And Return State - Wstr
3.11 Wait for state transition and return state – WSTR This command waits for a state transition, e. .g. after issuing a motion command for a gripper device, and returns the new state after the state transition. The robot program will be blocked waiting for at most 8 seconds. If there is no state transition within this time, an error will be raised and the robot program will be stopped. -
Page 22: Wait For Multiple State Transitions - Mwaitfor
3.12 Wait for multiple state transitions – MWAITFOR This command waits for a state transition on the selected ports, e. .g. after issuing a motion command for a gripper device. Unlike the single WSTR command, it won’t return the new state. The robot program will be blocked waiting for at most 8 seconds. -
Page 23: Get Sensor Value - Value
3.13 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 nValIdx. -
Page 24: Control Gripping Force Retention - Clamp
3.14 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 25: Control Of The Led Display -Led
3.15 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 26: 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 27: Assert Device Type - Devassert
Device’s IO-Link Vendor ID nPID 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: WRO_GriplinkDevAssert 2, 815, 20; - 26 -... -
Page 28: Wizard Easy Programming
4 Wizard Easy Programming GRIPLINK provides a set of nodes to support ABB’s Wizard Easy Programming feature. Available nodes can be listed by choosing “Griplink” from the menu on the left side of the screen. The connection to the GRIPLINK will be opened automatically. Figure 8: Wizard example Global variables are available to evaluate the device state of a gripper or sensor connected to the GRIPLINK or to read sensor values. - Page 29 Note that when working with multiple devices, the variable will always contain the device state of the device last worked with. nGriplinkValue This variable holds the sensor value after executing the Get value command. It can be used for example to determine the grip position after gripping a workpiece.
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Page 30: Error Handling
5 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. It is the responsibility of the programmer to handle these errors and to bring the system into a safe state after an error occured. -
Page 31: Device States
6 Device States Device State Constant Code Description INVALID DS_INVALID 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 ENABLED DS_ENABLED Ready for operation, active... - Page 32 - 31 -...
- Page 33 © 2022 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.