SCHUNK WSG Series Mounting instructions

original software manual
Fieldbus Interface
WSG
Software manual
Superior Clamping and Gripping

Imprint
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01.00|WSG |en
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.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389732
Edition: 01.00 |18/09/2015|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear customer,
congratulations on choosing a SCHUNK product. By choosing SCHUNK, you have opted for
the highest precision, top quality and best service.
You are going to increase the process reliability of your production and achieve best
machining results –to the customer's complete satisfaction.
SCHUNK products are inspiring.
Our detailed assembly and operation manual will support you.
Do you have further questions? You may contact us at any time –even after purchase.
Kindest Regards
Yours SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 –134
D-74348 Lauffen/Neckar
Tel. [phone]
Fax [phone]
[email protected]
www.schunk.com

Table of contents
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3
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 ................................................................................................ 7
3
Description............................................................................................................... 8
3.1
Output Registers (PLC to WSG) ................................................................................ 8
3.2
Input Registers (WSG to PLC) ................................................................................. 10
3.3
Diagnosis Messages PROFIBUS............................................................................... 13
4
Commands .............................................................................................................. 14
4.1
MOVE - Move the gripper fingers .......................................................................... 14
4.2
GRASP - Grasp a part .............................................................................................. 15
4.3
RELEASE - Release a part ........................................................................................ 16
4.4
HOMING - Referencing the gripper fingers............................................................ 17
4.5
STOP/ACK - Stop movement or acknowledge a FAST STOP .................................. 18
4.6
FAST STOP - Raise a Fast Stop with turning off the motor..................................... 19
4.7
JOG+ and JOG- - Jog Mode in positive and negative direction .............................. 20
5
Fieldbus Monitor ..................................................................................................... 22
5.1
Appendix A: Status Codes....................................................................................... 23
5.2
Appendix B: System State Flags.............................................................................. 24
5.3
Appendix C: Grasping States .................................................................................. 27
5.4
Appendix D: Demo Program................................................................................... 28

Introduction
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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.
All grippers contain an Ethernet TCP/IP as parametrisation and
communication interface.
The description of the parametrisation and communication inter-
faces CAN-bus and Ethernet TCP/IP are contained in the software
manual Command Set Reference.
Further information is contained in the assembly and operating
manual of the gripper.
1

Interface
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5
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.
Further information can be found in the assembly and operating manual
of the gripper and in the software manual Command Set Reference.
PROFIBUS
PROFIBUS and PROFINET use the same I/O register. Each PROFIBUS
slave has an I/O register space that is periodically updated and read
by the PROFIBUS Master. The I/O-Space of the gripper is pre-
configured at master-side by using the device profile. Further infor-
mation on the particular I/O register, (3, Page 8).
Installing the GSD file
NOTE
The GSD file can installed in Siemens STEP7 v11.0 (TIA) and newer
The GSD file is provided as a ZIP-compressed package that contains
the following files:
•WEIS5555.gsd (device description file)
•WSG_D.bmp (visualization file)
•WSG_R.bmp (visualization file)
•WSG_S.bmp (visualization file)
•install.txt (installation notes)
Follow these steps to install the GSD file in Siemens STEP7 11.0:
1 Unzip the package and store the files above to your disk
2 In the Siemens TIA, open the project view.
3 Select “Options -> Install general station description file (GSD) ”
4 Point to the location where you stored the unzipped package
on your disk.
5 You will now find the WSG in the Device Catalog under “Other field
devices -> PROFIBUS-DP -> Drives -> Weiss Robotics GmbH & Co. KG”
2
2.1
2.1.1

Interface
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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.
PROFINET
PROFINET and PROFIBUS use the same I/O register space layout. The
I/O space is periodically updated and uses a pre-defined profile which
is installed at the PROFINET-controller (e.g. PLC). The profile can be
found on the Product CD or downloaded from the web interface. The
I/O register space is described in detail in (3, Page 8).
Installing the GSDML file
NOTE
The GSDML- file can be installed in Siemens STEP7 v11.0 (TIA) and
newer.
The GSDML file is provided as a ZIP-compressed package that con-
tains the following files:
•GSDML-VX.XX-Weiss Robotics-WSG-XXXXXXXX.gsdml (device
description file)
•GSDML-02A2-0001-WSG.bmp (visualization file)
Follow these steps to install the GSD file in Siemens STEP7 11.0:
1 Unzip the package and store the files above to your disk
2 In the Siemens TIA, open the project view.
3 Select “Options -> Install general station description file (GSD) ”
4 Point to the location where you stored the unzipped package
on your disk.
5 You will now find the WSG in the Device Catalog under “Other
field devices -> PROFINET IO -> I/O -> Weiss Robotics GmbH &
Co. KG”
2.1.2
2.2
2.2.1

Interface
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7
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. Siemens STEP7. Please refer to the
documentation of your engineering tool.
NOTE
Changing the WSG’s IP address settings remotely using an engi-
neering tool. The device’s web interface might become inaccessi-
ble if the PROFINET connection gets lost.
It is strongly recommended to change these settings only via the
WSG’s web interface.
Further information is contained in the assembly and operating
manual of the gripper.
2.2.2

Description
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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. Due to the register-space-oriented nature of Pro-
fibus and Profinet, only a subset of the WSG’s command set is
available via this interface.
Grouping of Output Registers
Byte Number
Register Name
Description
0
CMDFLAGS
Command Flags
A command is issued when changing the corresponding
bit from 0 to 1 (raising edge), (4, Page 14).
Bit Index:
Name
Description
Bit 0:
MOVE
Move the gripper fingers
Bit 1:
GRASP
Grasp a part
Bit 2:
RELEASE
Release a part
Bit 3:
HOMING
Home the gripper
Bit 4:
STOP/ACK
Stop, but do not turn off the motor /
Acknowledge a FAST STOP
Bit 5:
FASTSTOP
Stop and turn off the motor.
must be acknowledged
Bit 6:
JOG+
Jog-Mode in positive direction
Bit 7:
JOG-
Jog-Mode in negative direction
NOTICE! If the FASTSTOP or STOP/ACK bit is set to ‘1’,
the motion commands are disabled.
1
IF
User Flags (input)
Free programmable flags that can be used in conjunction
with the Script Interpreter.
Bit Index:
Name
Description
0
IF1
Input User Flag 1
1
IF2
Input User Flag 2
2
IF3
Input User Flag 3
3
IF4
Input User Flag 4
3
3.1

Description
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9
Byte Number
Register Name
Description
4
IF5
Input User Flag 5
5
IF6
Input User Flag 6
6
IF7
Input User Flag 7
7
IF8
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).
4..5
SPEED
Command parameter “Speed”
Current movement speed in 1/100 millimeters per second
(i.e. a value of 3005 means 30.05 mm/s), given as finger
speed relative to each other.
Encoded as WORD (unsigned).
NOTICE! Setting this parameter to a value beyond the
system limits and triggering a motion-related function
using it raises a FAST STOP.
6..7
FORCELIMIT
Command parameter “Force Limit”
New grasping force limit in 1/100 Newton (i.e. a value of
1050 means 10.50 N). The grasping force is twice the no-
minal force that is applied to the part to be grasped.
Encoded as INT (signed), only positive values are allowed.
NOTICE! Setting this parameter to a value beyond the
system limits and triggering a motion-related function
using it raises a FAST STOP.
To initiate a command, the command parameters have to be set up
and the respective command flag has to be changed from 0 to 1 (i.e.
a raising transition). Jog Mode flags are level-sensitive. A detailed de-
scription of the specific commands can be found in (3.2, Page 10).
NOTE
If more than one command flag was changed simultaneously, only the
command with the lowest bit number is executed (i.e. setting both
MOVE and GRASP flags from 0 to 1 will result in a MOVE command).
NOTICE
Changing parameters while fingers are moving (i.e. MOVING in
the system flags is 1) will result in a FAST STOP.

Description
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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.
grouping Input Register
Byte Number
Register Name
Description
0
GSTATE
Grasping State
These flags encode the current grasping state as below
and are intended to control and monitor the grasping
process:
Bite Index:
Name
Description
Bit 0:
IDLE
Waiting for new
command
Bit 1:
GRASPING
Fingers moving to-
wards the part
Bit 2:
NO_PART
No part found
Bit 3:
PART_LOST
Part was grasped
but then lost
Bit 4:
HOLDING
Holding a part
Bit 5:
RELEASING
Fingers moving
away from the part
Bit 6:
POSITIONING
Fingers moving due
to a pre-position
command (MOVE)
Bit 7:
ERROR
An error occured
1
OF
User Flags (output)
Freely programmable flags that can be used to interact
between the PLC code and a running WSG Script.
Bit Index:
Name
Description
Bit 0:
OF1
Output User Flag 1
Bit 1:
OF2
Output User Flag 2
Bit 2:
OF3
Output User Flag 3
Bit 3:
OF4
Output User Flag 4
Bit 4:
OF5
Output User Flag 5
3.2