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Related Manuals for WEISS ROBOTICS GRIPLINK-ET4
Summary of Contents for WEISS ROBOTICS GRIPLINK-ET4
- Page 1 GRIPLINK CONTROLLER OPERATING INSTRUCTIONS July 2023...
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Page 2: Table Of Contents
Content Introduction ...................... 3 Product description ...................... 3 Related documents ....................... 4 Validity of these instructions ..................4 Target groups ....................... 4 Notation and symbols ....................5 Basic safety instructions ..................5 Intended use ........................ 5 Ambient and operating conditions ................5 Product safety ...................... - Page 3 Export of process data via MQTT (license required) .......... 27 Configuration of the MQTT -Services ................27 Provided data ......................29 Software update s .................... 30 Firmware/UI update ....................30 Bootloader update ..................... 31 Licenses ......................32 Troubleshooting ....................33 11.1 No communication with the GRIPLINK controller ............
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Page 4: Introduction
A list of supported sensors and actuators can be found here: www.griplink.de/devices WEISS ROBOTICS offers already extensively tested plug-ins for GRIPLINK on different robot platforms. A list of the supported robot platforms can be found at www.griplink.de//plugins Various sensors and actuators can be connected to the GRIPLINK controller via up to four device ports. -
Page 5: Related Documents
Firmware version: 4. 1.0 • An update of the firmware to 4. 1.0 is only possible for GRIPLINK-ET4 with hardware revision 2 or higher! Updates on older hardware revisions may lead to unusability of the GRIPLINK con- troller. If you are unsure, contact support at support@weiss-robotics.com. -
Page 6: Notation And Symbols
Any other use or use beyond this is considered improper, e.g. the operation of devices that are not listed on the compatibility list or have not been approved by WEISS ROBOTICS for operation with the GRIPLINK con- troller. The manufacturer is not liable for any damage resulting from this. -
Page 7: Structural Changes, Additions Or Conversions
2.3.1 Structural changes, additions or conversions Additional holes, threads or attachments that are not offered as accessories by WEISS ROBOTICS may only be attached after written approval by WEISS ROBOTICS. 2.3.2 Special standards The following standards are complied with: •... -
Page 8: Warranty
3 Warranty The warranty period is 12 months from the date of delivery to the factory for intended use in single-shift operation. Please also refer to the General Terms and Conditions (GTC). 4 Scope of delivery and accessories The scope of delivery includes: •... -
Page 9: System Requirements
5 System requirements A PC or mobile device with a current web browser is required to open the configuration interface. The fol- lowing browsers are compatible with GRIPLINK: • Google Chrome version 89.0 or newer Mozilla Firefox version 88.0 or newer •... -
Page 10: Technical Data
6 Technical data 6.1 Mechanical nominal data Mechanical operating data Unit GRIPLINK-ET4 Ambient temperature °C -5 ... 60 Humidity 0 ... 100 Protection class (all connectors connected or covered) Dimensions (L x W x H) 145 x 34 x 32,5... -
Page 11: Pin Assignment
Figure 2 : Connector Time from supply voltage >= 18V until the GRIPLINK controller is ready for operation. Time from connecting a WEISS ROBOTICS IEG 55-020 gripping module to an unoccupied device port until the gripping module is ready for operation. - Page 12 X1 (power supply input), M8 connector Strand color Signal Function brown Power supply +24 V white Power supply +24 V blue Power supply 0 V black Power supply 0 V X2 (power supply output), M8 socket Strand color Signal Function Brown Power supply +24 V White...
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Page 13: Nameplate
X7, X8 (Ethernet 0 and 1), M8 socket Strand color Signal Function Yellow Send Ethernet line pair White Ethernet line pair received Orange Ethernet line pair received Blue Send Ethernet line pair 6.3 Nameplate The nameplate ( Figure 3 ) is located on the side of the GRIPLINK controller and contains the serial number (C), part number (B) and the exact type designation (A). - Page 14 Display Meaning Green GRIPINK Controller is ready for operation Module state (1) Flashing orange GRIPLINK controller has received an incorrect command GRIPLINK Controller Error Green flashing Connected device is initialized Green continuous Connected device is ready for operation light Device port (2) Red continuous light No driver found for the connected device Red flashing...
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Page 15: Assembly And Commissioning
7 Assembly and commissioning Connect the GRIPLINK controller to the robot controller via the Ethernet cable. Connect up to four supported IO-Link devices. Now connect the GRIPLINK controller to the power supply. Figure 5: Cascading of several GRIPLINK controllers Make sure that the housing of the GRIPLINK controller is grounded (mount on conductive surface or clamp a separate grounding cable with cable lug under one of the two mounting screws). -
Page 16: Commissioning And Configuration
The current consumption of a GRIPLINK controller is determined by its quiescent current consumption and the current consumption of the connected IO-Link devices. If the value exceeds the current carrying capacity of X2, connect the GRIPLINK controller to a separate power supply. For easy control of multiple GRIPLINK controllers from the robot plugin, the proxy feature can be used (license required). -
Page 17: Locating The Griplink Controller
Figure 6: GRIPLINK web interface For operation with a robot controller, it may be necessary to adjust the IP address of the GRIPLINK controller. This is possible in the "Settings" menu. Incorrect settings can result in the GRIPLINK controller and its configuration interface no longer being accessible. -
Page 18: Configuration Of The Griplink Controller
7.2.2 Configuration of the GRIPLINK controller Call up the web interface of the GRIPLINK controller and navigate to the Settings page via the menu. The following settings can be changed on the configuration page that now appears: • Configuration of the network interface •... -
Page 19: Configuration Of Connected Devices
Different settings are then available depending on the device. Figure 8: Device configuration menu for a WEISS ROBOTICS servo gripper of type IEG 55-020 7.2.5 Event log of the port and the connected n devices For each port, the GRIPLINK controller keeps a separate, non-volatile event log, which can be viewed in the configuration page of the respective device and exported as a csv file. - Page 20 In addition to the port log, log messages from the connected device can also be displayed. With the "Refresh" button, the messages can be loaded manually from the device to the web application and also exported here via a button as a csv file. These messages are not loaded automatically, because this would affect the timing when a robot application is running .
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Page 21: Setting Up A Proxy Network (License Required)
Figure 10: Event log of a device connected to port 0 7.3 Setting up a proxy network (license required) In applications where more than four devices are to be used, the optionally available proxy license (OPT-GL- PROXY) can be used to set up a network of several GRIPLINK controllers, one of which acts as a master and forwards incoming commands from the higher-level controller to up to seven slaves. - Page 22 Figure 11: Network topology with proxy master and proxy slaves - 21 -...
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Page 23: Connection With A Robot Controller
7.4 Connection with a robot controller Ready-made GRIPLINK PLUGIN solutions WEISS ROBOTICS provides ready-to-use tested software modules for robot controllers of leading manufac- turers, with which the GRIPLINK technology can be quickly and conveniently integrated into your own robot application . -
Page 24: Supported Devices
GRIPLINK firmware and already installed on the GRIPLINK controller. In the basic version, GRIPLINK supports all devices from WEISS ROBOTICS. An additional li- cense is required to use compatible third-party devices. The list of GRIPLINK-compatible de- vices can be found under www.griplink.de/devices... -
Page 25: Device Status
Sensors In addition to the control of gripping modules, GRIPLINK also supports the readout of sensors. Depending on the model, sensors provide one or more measured values that can be read out via the VALUE command. The transmission of the measured value always takes place as an integer, therefore the measured values are usually scaled with a factor. - Page 26 FAULT DISABLED alle Zustände OPERATING Figure 13 : State changes sensor NOT INITIALIZED FAULT DISABLED alle Zustände RELEASED DISABLE NO PART HOLDING Figure 14 : Change of state of the gripping module A command is composed of the actual triggering of the action and the waiting for a change of state. This is shown in Figure 15 using the example of gripping a workpiece.
- Page 27 gripping part was found during gripping, the device state would change to NO_PART (4) or to FAULT (7) in case of an error such as overtemperature or device fault. The detailed list of available commands can be found in the separate document "GRIPLINK Controller Command Set Reference Manual".
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Page 28: Export Of Process Data Via Mqtt (License Required)
8 Export of process data via MQTT (license required) Via the optionally licensable MQTT service, the process data of the GRIPLINK controller can be made acces- sible to the IT management level in standardized form. In this way, the running process can be monitored, documented and optimized by third-party software products. - Page 29 Figure 17: Configuration of the MQTT service If a connection to a broker already exists, disconnect it now by moving the activation switch to the left. Then click on the round pencil icon and enter the address of the MQTT broker and the access data for the previously created user account of the GRIPLINK controller on the broker.
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Page 30: Provided Data
Figure 18 : MQTT directory space of the GRIPLINK controller The data of the end points are always provided as JSON objects. To receive the process data of a gripping module connected to port 0 of a GRIPLINK-ET4 controller with the alias "MT007", subscribe to the path weissrob/GRIPLINK-ET4/MT007/0/device/data at the MQTT broker. -
Page 31: Software Update S
9 Software update s Software updates are provided as files with the extension "wup". The update package with the latest firmware is available at www.griplink.de for download. Basically, a distinction is made between updates of the firmware/UI and the bootloader. Both types of update can be made via the configuration page in the settings of the GRIPLINK controller. -
Page 32: Bootloader Update
Figure 20 : Execute firmware update First select the update package via "SELECT". Then click on "UPDATE" to start the update. This process may take several minutes. The LEDs (1) and (2) flash alternately red-green during this process, see chapter 6.4. If the update was successful, the GRIPLINK controller can then be restarted via the "REBOOT"... -
Page 33: Licenses
10 Licenses For the GRIPLINK controller, software functions can be enabled by license. The description of the individual options can be found in the associated documentation package. Option Description OPT- GL -DDK OEM Driver Development Package OPT-GL-PROXY Proxy functionality OPT-GL-MQTT Export of process data via MQTT PT-GL-3RDPARTY Support for third-party devices... -
Page 34: Troubleshooting
11 Troubleshooting 11.1 No communication with the GRIPLINK controller Possible cause Remedy Power supply interrupted • Check power supply No connection, Ethernet LED is not lit • Check communication cable and connections • Check the IP settings of the controller. The GRIPLINK controller No connection, but Ethernet LED is on must be in the same subnet as the controller/PC. -
Page 35: Gripink Controller Reports An Error
Possible cause Remedy • Check compatibility Connected device is not supported (port • Check device version LED lights up red) Check version of GRIPLINK controller firmware • Check device version Driver error (port LED flashes red) • Check version of GRIPLINK controller firmware Overcurrent or connection error (port LED •... -
Page 36: Griplink Web Application Does Not Start
11.5 GRIPLINK web application does not start The home page of the web application does not load. Possible cause Remedy Make sure you have entered the correct IP address in the browser Incorrect IP address entered line. The default IP address is 192.168.1.40. The web application is not compatible with Internet Explorer. -
Page 37: Ec Declaration Of Incorporation
12 EC Declaration of Incorporation In the sense of the EC Machinery Directive 2006/42/EC, Annex 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 38 © 2023 WEISS ROBOTICS GmbH & Co. KG. All rights reserved. GRIPLINK and PERMAGRIP are registered trademarks of WEISS ROBOTICS GmbH & Co. KG. All other trade- marks are the property of their respective owners. Specifications given in this document are subject to change without notice for the purpose of product im- provement.