WEISS ROBOTICS CLG Series Service manual

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Mounting and Operating Instructions
CLG Series - Electrical Gripping Modules with IO-Link
Hardware Version: 1
September 2021

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Content
1Introduction ......................................................................................................5
1.1 Product Description......................................................................................................5
1.2 Related Documents ......................................................................................................5
1.3 Target Groups ..............................................................................................................6
1.4 Notation and Symbols ..................................................................................................6
2Basic Safety Instructions ....................................................................................6
2.1 Intended Use................................................................................................................6
2.2 Environmental and Operating Conditions......................................................................7
2.3 Product Safety..............................................................................................................7
2.3.1 Safety Devices........................................................................................................................ 7
2.3.2 Structural Changes, Extensions or Modifications.................................................................. 7
2.3.3 Special Standards................................................................................................................... 7
2.4 Personnel Qualification ................................................................................................8
2.5 Safety Considerations...................................................................................................8
2.6 Indications of Particular Hazards...................................................................................8
3Warranty...........................................................................................................8
4Scope of Delivery and Accessories......................................................................9
5Technical Data ................................................................................................. 10
5.1 Nominal Mechanical Data...........................................................................................10
5.1.1 Permissible Finger Length ................................................................................................... 10
5.1.2 Gripping Force and Finger Speed ........................................................................................ 11
5.1.3 Cycle Times.......................................................................................................................... 12
5.1.4 Permissible Finger Loads ..................................................................................................... 13
5.2 Nominal Electrical Data...............................................................................................14
5.2.1 Electrical Interface............................................................................................................... 15
5.3 Name Plate ................................................................................................................15
6Assembly and Commissioning .......................................................................... 16
6.1 Mounting ...................................................................................................................16
7Working Principle of the Gripping Module........................................................ 18
7.1 Typical Application .....................................................................................................18
7.2 Display of the Operating State ....................................................................................19

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7.3 Volatile Configuration Memory...................................................................................20
8Interface Description IO-Link............................................................................ 21
8.1 Cyclic Process Data .....................................................................................................21
8.1.1 Output Data (IO-Link Master to Gripping Module)............................................................. 21
8.1.2 Input Data (Gripping Module to IO-Link Master)................................................................ 22
8.2 Acyclic Process Parameters and System Commands.....................................................24
8.2.1 Standardized Acyclic Process Parameters........................................................................... 24
8.2.2 Device-Specific Acyclic Process Parameters........................................................................ 25
8.2.2.1 Motion Parameters.......................................................................................... 25
8.2.2.2 Grip Presets ..................................................................................................... 26
8.2.2.3 Diagnostic Parameters ..................................................................................... 28
8.2.2.4 Protocol Memory............................................................................................. 29
8.2.3 System Commands .............................................................................................................. 30
8.3 System Events (IO-Link Events) ...................................................................................30
9Control of the Gripping Module ....................................................................... 32
9.1 Gripping Commands ...................................................................................................32
9.2 Position sensors .........................................................................................................33
9.3 Reference Run............................................................................................................33
9.4 Gripping State ............................................................................................................34
9.5 Parametrizable Grip Presets........................................................................................35
9.5.1 Gripping Direction ............................................................................................................... 36
9.6 Initialize gripping module and perform a reference run ...............................................37
9.7 Grip Part ....................................................................................................................37
9.8 Release Part ...............................................................................................................38
9.9 Troubleshooting.........................................................................................................39
9.10 Activating and Deactivating the Module (Setup Mode)................................................40
9.11 Design of the Gripping Process....................................................................................41
9.11.1 Application Example External Gripping............................................................................... 42
9.11.2 Application Example Internal Gripping................................................................................ 43
10 Maintenance and cleaning ............................................................................... 45
11 Troubleshooting .............................................................................................. 46
11.1 Base jaws do not move...............................................................................................46
11.2 Gripping module stops abruptly or does not travel the entire stroke............................46
11.3 No communication with the gripping module..............................................................46
11.4 The gripping module reports an error..........................................................................47

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12 ANNEX A - Equipment specific process parameters...........................................48
13 ANNEX B - Project Configugration Example ...................................................... 50
13.1 Preparation................................................................................................................50
13.2 Configuration of the IO-Link master ............................................................................50
13.3 Configuration of the gripping module..........................................................................53
13.4 Configuration of the Gripping Module.........................................................................54
13.5 Diagnostics.................................................................................................................55
13.6 Generation of a Data Type for the PLC Program...........................................................56
14 EC Declaration of Incorporation ....................................................................... 57

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1Introduction
These instructions are part of the gripping module and describe the safe and proper use in all operating
phases. It is exclusively valid for gripping modules of the CLG series and contains important information on
installation, commissioning, maintenance and service.
1.1 Product Description
The CLG series gripping modules are ultra-compact servo-electric gripping modules with innovative gripping
force control and integrated IO-Link technology. Figure 1shows the connectors and components of a CLG
gripping module. The gripping module can be configured either via the configuration software of the IO-Link
master or via the GRIPLINK device configurator, which is available separately.
Figure 1: Components and connectors of the gripping module
1.2 Related Documents
The following additional documents for the operation of the gripping module are available for download on
our website at https://www.weiss-robotics.com/clg/:
•Technical drawing
•3D model (STEP)
•IO-Link device description file (IODD)

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For additional warranty information, please refer to our General Terms and Conditions, available at
https://www.weiss-robotics.com/gtc/.
1.3 Target Groups
The target group of these instructions are plant manufacturers and operators, who should keep this and
other documents supplied accessible to the personnel at all times and also encourage them to read and
observe the safety and warning instructions in particular.
It is also intended for qualified personnel and fitters who should read this manual and observe and comply
with the safety and warning instructions at all times.
1.4 Notation and Symbols
For a better overview, the following symbols are used in this manual:
Functional or safety-related information. Non-observance may endanger the safety of per-
sonnel and plant, damage the device or impair the function of the device.
Additional information for a better understanding of the described facts.
Reference to further information.
2Basic Safety Instructions
2.1 Intended Use
The gripping module is designed for gripping and reliably holding workpieces or objects. The module is in-
tended for installation in a machine/system. The requirements of the applicable guidelines as well as the
mounting and operating instructions in this manual must be observed and complied with. The gripping mod-
ule may only be used within the scope of its defined application parameters and only in industrial applica-
tions.
Any other or further use is considered improper, e.g. if the gripping module is used as a pressing, cutting,
lifting or punching tool or as a clamping device or guiding aid for tools. The manufacturer is not liable for any
damage resulting from such use.

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2.2 Environmental and Operating Conditions
The gripping module may only be used within its defined application parameters. It must be ensured that the
gripping module and the fingers are sufficiently dimensioned according to the application, and that the envi-
ronment is clean and the ambient temperature corresponds to the specifications in the data sheet. Please
observe the maintenance instructions (see chapter 10). Furthermore, it must be ensured that the environ-
ment is free of spray water and vapors as well as from abrasion or process dust. This does not apply to mod-
ules that are specially designed for dirty environments.
2.3 Product Safety
The gripping module corresponds to the state of the art and complies with the recognized safety rules and
regulations at the time of delivery. However, hazards may emanate from it if, for example:
•the gripping module is not used as intended
•the gripping module is improperly mounted, modified or incorrectly maintained
•the EC Machinery Directive, the VDE guidelines, the safety and accident prevention regulations appli-
cable at the place of use or the safety and assembly instructions are not observed
2.3.1 Safety Devices
Provide safety devices in accordance with the EC Machinery Directive.
2.3.2 Structural Changes, Extensions or Modifications
Additional drillings, threads or attachments that are not offered as accessories by Weiss Robotics may only
be attached after obtaining written approval by Weiss Robotics.
2.3.3 Special Standards
The following standards are complied with:
•RFI voltage, interference field strength and emission according to EN 61000-6-3
•Fast transients on signal and data lines according to EN 61000-4-4
•HF power input on signal and data lines according to EN 61000-4-6
•HF radiation according to EN 61000-4-3
•Emissions according to EN 61000-6-4 Class A
•Power frequency magnetic field according to EN 61000-4-8
•Discharge of static electricity according to EN 61000-4-2
•IO-Link communication standard according to IEC 61131-9

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2.4 Personnel Qualification
Assembly, initial commissioning, maintenance and repair of the gripping module may only be performed by
trained specialists.
Every person assigned by the operator to work on the gripping module must have read and understood the
complete operating manual, in particular chapter 2"Basic Safety Instructions". This also applies to personnel
who are only occasionally deployed, for example maintenance personnel.
2.5 Safety Considerations
Observe the safety and accident prevention regulations applicable at the place of use.
Do not move any parts by hand when the module is connected to the power supply.
Do not reach into the open mechanics and the movement range of the gripping module.
Disconnect the power supply of the gripping module before any installation, modification or adjust-
ment work.
2.6 Indications of Particular Hazards
Risk of injury from falling and ejected objects! Provide protective devices to prevent objects from
falling or being thrown out, e.g. processed workpieces, tools, shavings, fragments, waste.
Risk of injury due to unexpected movements of the machine,
3Warranty
The warranty period is 12 months from the date of delivery to the factory, provided that the device is used
for its intended purpose in single-shift operation and in compliance with the specified maintenance and lu-
brication intervals or up to 10 million gripping cycles. Parts touching the workpiece and wear parts are not
covered by the warranty. Please also refer to the General Terms and Conditions (GTC).
The gripping module is considered defective if its basic gripping function is no longer available.

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4Scope of Delivery and Accessories
The scope of delivery includes:
•CLG gripping module in the ordered version
•Accessory kit (centering sleeves or dowel pins matching the gripping module’s diameter)
Size
CLG 30-060
Gripping module
5120014
Accessory kit
5020071
Table 1: Part numbers scope of delivery
The following accessories for the gripping module are available separately:
•Flange adapter for robots with ISO standard flange
•Device configurator for gripping modules of the Integration Line, GRIPLINK-U1, part no. 5020009
•Robot integration solution, GRIPLINK-ET4, part no. 5020069
•Connecting cables
Please order accessories separately.
Additional accessories can be found on our website at https://www.weiss-robotics.com.

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5Technical Data
5.1 Nominal Mechanical Data
If the specified nominal data are exceeded, the gripping module may be damaged. If in doubt,
please discuss your application with our technical sales department in advance.
Mechanical operating data
Unit
CLG 30-060
Total stroke
mm
6
Nominal gripping force (100%)
N
30
Recommended minimum gripping force (25%)
N
7,5
Max. relative finger speed
mm/s
100
Min. relative finger speed
mm/s
5
Max. recommended workpiece weight
g
200
Permissible finger length (L) 1
mm
40
Permissible mass per finger
g
60
Protection class
IP
40
Ambient temperature
°C
5-50
Air humidity
%
0..90
non-condensing
Mechanical repeatability
mm
+/- 0,03
Weight
g
120
Table 2: Nominal mechanical data
5.1.1 Permissible Finger Length
The permissible finger length L corresponds to the distance between the mounting surface of the base jaw
and the effective gripping force application point, see Figure 2. Maximum values for Lcan be found in the
nominal mechanical data of the respective gripping module. If the maximum finger length is exceeded, a
reduction of the gripping force is mandatory. In addition, the service life may be reduced.
1
For nominal force, see dimension "L" in Figure 2

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Figure 2: Determination of finger length "L
5.1.2 Gripping Force and Finger Speed
The gripping force can be set as a percentage of the nominal gripping force. The recommended minimum
gripping force is 25% of the nominal gripping force.
The gripping module adjusts the finger speed depending on the parameterized gripping force according to
Figure 3This minimizes gripping impulse and rebound effects during undamped gripping. The central override
parameter (see chapter 8.2.2.1) can be used to manually increase or reduce the speed during gripping and
thus to adapt it to the gripping part (area with gray background). In order to ensure proper movement of the
fingers, the minimum possible gripping speed is limited to 5 mm/s.

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0
20
40
60
80
100
050 100
120
Greifgeschwindigkeit [mm/s]
Greifkraft [%]
CLG 30-006
7525
Override min.
Override max.
Figure 3: Gripping speed depending on the parameterized gripping force
Gripping speeds above 100% (override) lead to an increased gripping impulse, which can damage
the workpiece and the gripper mechanics.
5.1.3 Cycle Times
The following diagrams show the typical course of the gripping duration and the release duration for different
gripping force settings.
The values shown indicate the typical duration from the processing of the command at the gripping
module to the change of the gripping state. The actual duration varies depending on the workpiece
(rigid or elastic), finger weight, gripping height, etc. For a more precise estimation of the possible
cycle times, tests must be carried out in individual cases.

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CLG 30-006
5.1.4 Permissible Finger Loads
The following table shows the permissible static loads on the base jaw guide:
Last
Unit
CLG 30-060
C0
N
632
TX
Nm
1,0
TY
Nm
1,1
TZ
Nm
1,3
Table 3: Static guide loads
In the case of superimposed forces and moments, the load carrying capacity of the guide must be recalcu-
lated according to the following equation:












 
C0and T are the permissible guide loads according to Table 3, and M is the sum of all moments occurring per
base jaw (gripping, weight, inertia and process forces) in the application.
0
50
100
150
200
250
300
350
400
450
500
0 2 4 6
Grip Time (ms)
Stroke (mm)
0
10
20
30
40
50
60
70
80
0 2 4 6
Release Time (ms)
Stroke (mm)

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Figure 4: Finger loads
5.2 Nominal Electrical Data
If the specified nominal data are exceeded, the gripping module may be damaged. If in doubt, clarify
your application with our technical sales department in advance.
Electrical operating data
Unit
CLG 30-006
Supply voltage
V
18 ... 30
Current consumption IDLE (inactive)
mA
40
Current consumption HOLDING (25% force)
mA
40
Current consumption HOLDING (100% force)
mA
60
Peak current max. (moving)
mA
800
C/Q pin
Input voltage range
V
0 ... 30
Threshold value "HIGH
V
13
Threshold value "LOW
V
8
Hysteresis
V
2,2
MX
MY
MZ
FC

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Communication
Unit
Value
Standard
IO-Link V1.1
Transmission speed
bit/s
38,400 (COM2)
Min. cycle time
ms
4,0
Max. start time IO-Link 2
ms
280
Max. start time operational readiness 3
ms
750
Table 4: Nominal Electrical Data
5.2.1 Electrical Interface
The gripping module has an M8 connector for electrical contact. The pin assignment corresponds to the IO-
Link standard Class A connector. It is shown in Figure 5
Depending on the model, the current consumption of the gripping module exceeds the 200 mA limit
specified in the IO-Link 1.1 standard. It is therefore essential to check whether the IO-Link master
used can permanently supply the rated current specified in Table 4
1 3
24
Pin
Strand colour
Signal
Function
1
brown
L+
Power supply +24 V
2
white
RES
reserved, do not connect
3
blue
L-
Power supply 0 V
4
black
C/Q
IO-Link communication
Figure 5: Pin assignment (view of device connector)
5.3 Name Plate
The type label is located on the transverse side of the gripping module and contains the serial number
and the exact type designation.
2
Time from supply voltage >= 18V to communication readiness via IO-Link
3
Time from supply voltage >= 18V to readiness for operation of the gripping module (without referencing)

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6 Assembly and Commissioning
Risk of injury in case of unexpected movements of the machine. Disconnect the power supply during
all assembly and maintenance work and ensure the module is force-free!
6.1 Mounting
The dimensions of the threads and centering holes that can be used to mount the gripping module can be
found in the technical drawing. The following maximum torques and minimum screw-in depths must be ob-
served during assembly:
Thread
M2 base jaw (steel)
M3 housing (aluminium)
Max. Torque
0.3 Nm
0.7 Nm
Minimum screw-in depth
2 mm
3 mm
Table 5: Tightening torques for screws (min. strength class 8.8)
Maximum permissible unevenness of the mounting surface: 0.02 mm
Figure 6: Mounting the gripping module

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The mounting of the fingers is shown in Figure 7dowel pins must be used for mounting and are included in
the accessory kit of the gripping module.
Figure 7: Mounting the fingers
The recommended mounting materials are listed in Table 6
Position
CLG 30-006
1
2 pcs.
Dowel pin ISO 2338 4h8 X 6
2
2 pcs.
Screw ISO 4762 M3
3
2 pcs.
Screw ISO 4762 M2
4
2 pcs.
Dowel pin ISO 2338 4h8 X6
Table 6: Screws and centering sleeves

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7Working Principle of the Gripping Module
The gripping modules of the CLG series are servo-electrical two-finger parallel grippers with integrated grip-
ping control, a high-performance brushless drive and a high-resolution position measuring system. Move-
ment and synchronisation of the base jaws, which are guided by roller bearings, are effected via pinion-rack
kinematics. The pre-positioning capability of the gripper fingers as well as the innovative gripping force con-
trol allow the use in a variety of different handling applications in modern automation. Power supply and
connection to the process control system are provided directly via the integrated IO-Link interface. Figure
8shows the functional structure of the CLG gripping modules.
DriveGear Box
Grip Control
Workpiece
Detection Diagnosis
Force
Control
Position
Detection
Figure 8: Functional diagram of the CLG gripping module
The integrated gripping control features highly optimized workpiece detection. Up to two different parame-
ter sets can be configured via IO-Link to reliably grip multiple workpieces. A position window is defined for
each workpiece, in which the gripper must adjust itself. If the CLG grips within this range, it changes from the
state RELEASED to HOLDING, which signals a successful grip to the process control.
The CLG continuously monitors the function-relevant components such as position sensors and drive and
provides detailed diagnostic information via IO-Link during operation. This helps to detect faults.
The gripping module is realized in a torsion-resistant housing made of high-strength aluminum. It has rolling
bearing guided base jaws with ground finger flange.
7.1 Typical Application
Figure 9shows a typical control-side setup with gripping modules of the CLG series, as controlled via PLC or
robot control and decentralized IO-Link master coupler (for example, a GRIPLINK ET-4 by Weiss Robotics). If
you need assistance in selecting the IO-Link components, please contact our technical support.
Damage to the IO-Link master possible. Make sure that the IO-Link master can permanently provide
the required operating current of the gripping module.

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Figure 9: Typical application
7.2 Display of the Operating State
The gripping module has two status LEDs on the side, which visualize the general status (STATE) and the
handling status (HOLD). The states are indicated by the display color as listed in Table 7 and Table 9, and the
IO-Link connection status is indicated by flashing or steady light of the display.
STATE
Meaning
green
Ready for operation
red
Not ready / Error
LED flashes
No IO-Link communication
LED light continuously
Cyclic data exchange via IO-Link
Table 7: Signalized states LED STATE
HOLD
Meaning
On
Grip state HOLD
Off
Grip state NO PART / RELEASED / ERROR
Table 8: Signalized states LED HOLD

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Example
STATE flashes red: An error has occurred and there is no IO-Link connection.
STATE permanently lights red: Error occurred and IO-Link connection established.
Figure 10: Display of the operating state
7.3 Volatile Configuration Memory
The gripping module has an integrated configuration memory in which the parameterization of the gripping
module is stored. This memory is volatile, i. e. the configuration data stored will be lost when turning off or
disconnecting the power supply. The gripping module must therefore be re-parameterized after each restart.
For this purpose, common IO-Link masters can be configured in a way that the parameterization is retained
in the master and automatically reloaded when the gripping module is started. Please refer to the documen-
tation of your IO-Link master for further information.