SCHUNK WSG Series Mounting instructions

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

Imprint
2
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

Description
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11
Byte Number
Register Name
Description
Bit 5:
OF6
Output User Flag 6
Bit 6:
OF7
Output User Flag 7
Bit 7:
OF8
Output User Flag 8
2..5
SYSSTATE
System State
Current system state of the gripper encoded as a bit vec-
tor (5.2, Page 24). This register is updated every bus
cycle with the system state flags regardless of the cur-
rently processed command. Please note that the system
state flags should not be used to control the grasping
process. Use the grasping state instead.
Bit Index:
Name
Bit 0
REFERENCED
Bit 1
MOVING
Bit 2
BLOCKED_MINUS
Bit 3
BLOCKED_PLUS
Bit 4
SOFT_LIMIT_MINUS
Bit 5
SOFT_LIMIT_PLUS
Bit 6
AXIS_STOPPED
Bit 7
TARGET_POS_REACHED
Bit 8
OVERDRIVE_MODE2
Bit 9
FORCECNTL_MODE
Bit 10
reserved
Bit 11
reserved
Bit 12
FAST_STOP
Bit 13
TEMP_WARNING
Bit 14
TEMP_FAULT
Bit 15
POWER_FAULT
Bit 16
CURR_FAULT
Bit 17
FINGER_FAULT
Bit 18
CMD_FAILURE
Bit 19
SCRIPT_RUNNING
Bit 20
SCRIPT_FAILURE
Bit 21
reserved
Bit 22
reserved
Bit 23
reserved
Bit 24
reserved

Description
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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. a value of 1220 means 12.2 mm). Encoded as INT.
This register is updated every bus cycle with the current
opening width regardless of the currently processed
command.
8..9
Grasping Force
Current Grasping Force
Current grasping force in 1/100 Newton (i.e. a value of
405 means a grasping force of 40.5 N). This is twice the
nominal force that is currently applied to a part. Encoded
as INT. This register is updated every bus cycle with the
current grasping force regardless of the currently
processed command.NOTICE! If no Force Measurement
Finger is installed on the WSG, this value is approx-
imated using the motor current.
10..11
Status Code
Result of the last Command
This field holds its state, until a new command is issued
(5.1, Page 23).
2Overdrive mode is not supported by all WSG grippers. Please refer to the User’s Manual
for further information.

Description
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13
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. The diagnosis messages containing the current system
state flags.
•SF_SOFT_LIMIT_MINUS
•SF_SOFT_LIMIT_PLUS
•SF_FAST_STOP
•SF_TEMP_FAULT
•SF_POWER_FAULT
•SF_CURR_FAULT
•SF_FINGER_FAULT
•SF_CMD_FAILURE
•SF_SCRIPT_FAILURE
More detailed description of these flags, (5.2, Page 24).
The format of the diagnosis message
Byte Number
Description
0..3
Standard Diagnostic Data
Diagnostic Data as defined by the PROFIBUS Spe-
cification
4..5
Slave Ident-No.
Slave Identification Number. This is 0x5555 for
the WSG.
6
Length of Diagnostic Message
Diagnosis messages of the WSG are always 10
Bytes = 0x0A.
7..10
System State
Current system state of the gripper encoded as a
bit vector. Same coding as SYSSTATE register.
10..15
reserved
This area is reserved for future use.
3.3

Commands
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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. The command is intended to speed up grasping of sensitive
parts when the gripper fingers have to travel a larger distance due
to process constraints.
MOVE can only be issued if the gripper is idle, i.e. grasping state is IDLE.
Command Flag Position:
Bit 0
Parameters used:
WIDTH, SPEED
Status Code
The STATUS CODE register is set to E_CMD_PENDING upon start of
the movement and set to the command’s result when it has fi-
nished.
Grasping State (GSTATE)
The grasping state changes to POSITIONING when starting to move
and back to IDLE when finished. In case of an error, the grasping
state is set to ERROR.
System State (SYSSTATE)
Various transitions will occur. You should use the GSTATE register
to evaluate the current state of the grasping process, unless you
have very special requirements.
4
4.1

Commands
01.00|WSG |en
15
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. If the gripper can establish the desired
grasping force within the defined clamping travel, a part is grasped. If
the fingers fall through the clamping travel without establishing the
grasping force, no part was found and the grasping state is updated
accordingly. The clamping travel can be set using the WSG’s web inter-
face. The grasping state is updated with the result of this operation (ei-
ther PART_HOLDING or NO_PART) as well as the grasping statistics. If
no part was found, the command’s result is set to E_CMD_FAILED.
After successfully grasping a part, the integrated part monitoring is
enabled which supervises the grasping force. If a part is removed
from the gripper before issuing the RELEASE command, the gripper
detects it and changes the grasping state to PART_LOST.
NOTE
You may reduce the grasping speed with sensitive parts to limit
the impact due to the mass of the gripper fingers and the internal
mechanics.
Command Flag Position:
Bit 1
Parameters used:
WIDTH, SPEED, FORCELIMIT
Status Code:
The STATUS CODE register is set to E_CMD_PENDING upon start of
the movement and set to the command’s result when it has finished.
Grasping State (GSTATE):
During finger movement, the grasping state is set to GRASPING. If
a part was found, it changes to HOLDING. If no part was found, the
Grasping State is set to NO_PART. If a part was removed after it
was clamped, the grasping state is set to PART_LOST. In case of an
error, the grasping state is set to ERROR.
System State (SYSSTATE):
Various transitions will occur. You should use the GSTATE register
to evaluate the current state of the grasping process, unless you
have very special requirements.
4.2

Commands
16
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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. The gripper’s
nominal force is used for release.
Command Flag Position:
Bit 3
Parameters used:
WIDTH, SPEED
Status Code:
The STATUS CODE register is set to E_CMD_PENDING upon start of
the movement and set to the command’s result when it has fi-
nished.
Grasping State (GSTATE):
During finger movement, the grasping state is set to RELEASING.
When the end position is reached, the grasping state is set to IDLE.
In case of an error, the GSTATE is set to ERROR.
System State (SYSSTATE):
Various transitions will occur. You should use the GSTATE register
to evaluate the current state of the grasping process, unless you
have very special requirements.
4.3

Commands
01.00|WSG |en
17
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.
During homing, the fingers will move to the mechanical end stop.
The homing sequence has to be configured on the Settings -> Mo-
tion Configuration page of the web interface. You can set the di-
rection of homing (inbound or outbound) as well as enable auto-
matic homing on startup.
NOTE
During homing, soft limits are disabled. Obstacles in the move-
ment range of the fingers and collisions with these during homing
may result in a wrong reference point for the finger position!
Command Flag Position:
Bit 3
Parameters used:
none
Status Code:
The STATUS CODE register is immediately set to E_CMD_PENDING
and to the command’s result when it has finished.
Grasping State (GSTATE):
During homing, the grasping state is IDLE.
System State (SYSSTATE):
During movement, the MOVING flag is set to 1. If the gripper is re-
ferenced, the REFERENCED flag is set to 1.
4.4

Commands
18
01.00|WSG |en
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.
If the WSG is in FAST STOP mode, a transition from 0 to 1 is re-
quired on this flag to acknowledge and to return in normal operat-
ing mode. You have to reset the FASTSTOP flag before acknowl-
edging it!
Command Flag Position:
Bit 4
Parameters used:
none
Status Code:
The STATUS CODE register is set to E_SUCCESS.
Grasping State (GSTATE):
The grasping state is set to IDLE.
System State (SYSSTATE):
The AXIS_STOPPED flag is set to 1. If acknowledging a FAST STOP,
the FASTSTOP flag is cleared.
4.5

Commands
01.00|WSG |en
19
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 (4.5, Page 18).
All motion-related commands are prohibited during FAST STOP
and will produce an E_ACCESS_DENIED error. The FAST STOP state
is indicated in the system flags and logged in the system’s log file.
The FAST STOP command should in general be used to react on
certain error conditions. To simply stop the current movement,
you may want to use the STOP command instead.
NOTE
The drive can be enabled again using the web interface. However,
it is required to reset the FAST STOP flag on the PROFIBUS inter-
face to enable motion-related commands again.
Command Flag Position:
Bit 5
Parameters used:
none
Status Code:
The STATUR CODE register is set to E_SUCCESS.
Grasping State (GSTATE):
The grasping state is set to IDLE.
System State (SYSSTATE):
The FASTSTOP flag is set to 1.
4.6

Commands
20
01.00|WSG |en
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-
Movement direction
0
0
Jog Mode is disabled*
1
0
positive with SPEED
0
1
negative with SPEED
1
1
Stop
*If the Jog flags change to both 0, the Jog mode is left and the
drive is stopped.
The force limit (current controlled only) as well as the speed can
be passed as parameters.
You may consider using a hand wheel to control them. Be aware that
high movement speed may interfere with a low force limit setting.
NOTE
In contrast to other motion-related commands, the SPEED Para-
meter can be set to 0 resulting in an internal clamping of the value
to the minimum gripper speed.
NOTE
The Jog Mode is intended only to set up a process. Do not use the
Jog Mode in normal operation of the gripper!
Command Flag Position:
Bit 6 and 7
Parameters used:
SPEED, FORCELIMIT
Status Code
The status code register is set to E_CMD_PENDING upon start of
the movement and set to the command’s result when it has fi-
nished.
4.7