WEISS ROBOTICS GRIPLINK-ET4 User manual

GRIPLINK CONTROLLER
OPERATING INSTRUCTIONS
July 2023

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Content
1Introduction ......................................................................................................3
1.1 Product description ......................................................................................................3
1.2 Related documents.......................................................................................................4
1.3 Validity of these instructions ........................................................................................4
1.4 Target groups ...............................................................................................................4
1.5 Notation and symbols...................................................................................................5
2Basic safety instructions..................................................................................... 5
2.1 Intended use ................................................................................................................5
2.2 Ambient and operating conditions ................................................................................5
2.3 Product safety ..............................................................................................................5
2.3.1 Structural changes, additions or conversions ....................................................................... 6
2.3.2 Special standards................................................................................................................... 6
2.4 Personnel qualification .................................................................................................6
2.5 Safety conscious work ..................................................................................................6
3Warranty ........................................................................................................... 7
4Scope of delivery and accessories.......................................................................7
5System requirements.........................................................................................8
6Technical data....................................................................................................9
6.1 Mechanical nominal data..............................................................................................9
6.2 Electrical nominal data .................................................................................................9
6.2.1 Pin assignment..................................................................................................................... 10
6.3 Nameplate .................................................................................................................12
6.4 Display of the operating status ...................................................................................12
7Assembly and commissioning........................................................................... 14
7.1 Cascading of several GRIPLINK controllers...................................................................14
7.2 Commissioning and configuration ...............................................................................15
7.2.1 Locating the GRIPLINK Controller........................................................................................ 16
7.2.2 Configuration of the GRIPLINK controller............................................................................ 17
7.2.3 Event log.............................................................................................................................. 17
7.2.4 Configuration of connected devices.................................................................................... 18
7.2.5 Event log of the port and the connected n devices............................................................. 18
7.3 Setting up a proxy network (license required) .............................................................20
7.4 Connection with a robot controller .............................................................................22
7.5 Control concept..........................................................................................................22
7.5.1 Supported devices ............................................................................................................... 23
7.5.2 Device status ....................................................................................................................... 24
7.5.3 Commands........................................................................................................................... 24

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8Export of process data via MQTT (license required) .......................................... 27
8.1 Configuration of the MQTT -Services...........................................................................27
8.2 Provided data.............................................................................................................29
9Software update s............................................................................................ 30
9.1 Firmware/UI update ...................................................................................................30
9.2 Bootloader update .....................................................................................................31
10 Licenses ........................................................................................................... 32
11 Troubleshooting .............................................................................................. 33
11.1 No communication with the GRIPLINK controller.........................................................33
11.2 No communication with the connected device ............................................................33
11.3 GRIPINK Controller reports a port error.......................................................................33
11.4 GRIPINK Controller reports an error ............................................................................34
11.5 GRIPLINK web application does not start.....................................................................35
12 EC Declaration of Incorporation ....................................................................... 36

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1Introduction
These instructions are part of the GRIPLINK controller and describe the safe and proper use in all operating
phases. It is exclusively valid for this model and contains important information on installation, commission-
ing, maintenance and service.
1.1 Product description
The GRIPLINK Controller is a network-compatible interface converter for building intelligent gripping heads.
It simplifies the integration of IO-Link based sensors and actuators into robot systems. For this purpose, the
GRIPLINK Controller has a driver-based architecture that makes it possible for the first time to implement a
universal, cross-device command protocol on automation components from different manufacturers and
thus provide a uniform interface on the robot controller.
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. Com-
munication with the higher-level controller takes place via Ethernet TCP/IP using an open text-based com-
munication protocol. The connected automation components can be conveniently parameterized and mon-
itored via the integrated web interface of the GRIPLINK Controller. A current output as well as an integrated
Ethernet switch allow easy cascading of several GRIPLINK controllers to build larger gripping heads. Figure 1
shows the connections of the GRIPLINK controller.
Figure 1: General view of the GRIPLINK controller

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1.2 Related documents
The following additional documents for the operation of the GRIPLINK controller are available on the Internet
at www.griplink.de for download:
•Technical drawing
•3D model (STEP)
•GRIPLINK Controller Command Reference
•GRIPLINK plugins for various robot controllers (incl. documentation)
•Compatibility lists
•Sample programs
For warranty information, please refer to our General Terms and Conditions, available at www.weiss-robot-
ics.com/agb/.
1.3 Validity of these instructions
This manual is valid for the GRIPLINK Controller GRIPLINK-ET4 with the following version data:
•Hardware revision: 2 and higher
•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 [e-mail].
1.4 Target groups
The target group for these instructions are, on the one hand, plant manufacturers and operators who should
keep this and other documents supplied accessible to personnel at all times and, in addition, encourage them
to read and observe the safety and warning instructions in particular.
In addition, it is intended for qualified personnel, programmers and installers, who should read these instruc-
tions and observe and comply with the safety and warning instructions at all times.

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1.5 Notation and symbols
For a better overview, the following symbols are used in these instructions:
Function or safety-relevant note. Non-observance may endanger the safety of personnel 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 GRIPLINK controller was designed as a link between IO-Link-capable automation components and a
higher-level controller via Ethernet TCP/IP and is intended for installation in a machine. The requirements of
the applicable directives and the installation and operating instructions in this manual must be observed and
complied with. The GRIPLINK controller may only be used within the scope of its defined application param-
eters and only in industrial applications.
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.
2.2 Ambient and operating conditions
The GRIPLINK controller may only be used within the scope of its defined application parameters. A stable
supply voltage with sufficient current carrying capacity must be ensured. The housing must be grounded. To
achieve the specified protection class, the unused connections must be closed with caps.
2.3 Product safety
The GRIPLINK Controller corresponds to the state of the art and the recognized safety rules at the time of
delivery. However, hazards may emanate from it if, for example:
•the module is not used as intended
•the EC Machinery Directive, the VDE Directives, the safety and accident prevention regulations
applicable at the place of use or the safety and assembly instructions are not observed

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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:
•Radio interference voltage, interference field strength and radiation according to
EN 61000-6-3
•Fast transients on signal and data lines according to EN 61000-4-4
•HF current injection on signal and data lines according to EN 61000-4-6
•RF irradiation according to EN 61000-4-3
•Interference emission according to EN 61000-6-4 Class A
•Discharge of static electricity according to EN 61000-4-2
•IO-Link communication standard according to IEC 61131-9
2.4 Personnel qualification
Installation, initial start-up, maintenance and repair of the GRIPLINK Controller may only be carried out by
trained specialist personnel.
Every person who is assigned to work by the operator must read the complete operating instructions, in
particular chapter 2 "Basic safety instructions" must have read and understood. This also applies to personnel
who are only occasionally deployed, e.g. maintenance personnel.
2.5 Safety conscious work
Observe the safety and accident prevention regulations applicable at the place of use.
Disconnect the power supply to the GRIPLINK controller before carrying out any work.

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3Warranty
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).
4Scope of delivery and accessories
The scope of delivery includes:
•GRIPLINK Controller in the ordered version
•Accessories (protective caps for M8 and M12 sockets)
•Quick start guide
Variant
GRIPLINK Controller
By-pack
Quick guide
ET4
5020069
5020070
5080035
Table 1: Part numbers Scope of delivery
The following accessories are available separately:
•Ethernet data cable
•Power supply connection cables
•Connection cables for sensors and actuators
•Licenses for activating additional functions (see chapter 10
Please order accessories separately. You will find further accessories on our website at
www.griplink.de

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5System 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
•Microsoft Edge version 90.0 or newer
•iOS 12.4 or newer
•Android 7 (Nougat) or newer
It is recommended to always use an up-to-date browser.

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6Technical 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) IP 65
Dimensions (L x W x H) mm 145 x 34 x 32,5
Mass g 220
Housing material Aluminum, epoxy resin
Surface Chem. nickel
Sealing material (connector)
NBR, FKM 75
Table 2 : Nominal mechanical data
6.2 Electrical nominal data
If the specified nominal data are exceeded, the GRIPLINK controller and/or the connected de-
vices may be damaged. In case of doubt, clarify your application with our technical sales de-
partment.

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Electrical operating data Unit GRIPLINK-ET4
Supply voltage V 18 ... 30
Type. Current consumption (Ethernet communica-
tion, all device ports unused) mA 70
Power supply output (X2)
Max. perm. output current
A
6
Device port (X3 to X6)
Max. perm. continuous output current L+
A
2
Max. perm. continuous output current C/Q
A
0.2
Communication standard
IO-Link V1.1
Supported bitrates
kBit/s
4.8 (COM1); 38.4 (COM2); 230.4 (COM3)
Type. Start time GRIPLINK controller ready for op-
eration1s 0,2
Type. Start time Device connected until ready for
operation2s 0,3
Table 3 : Electrical nominal data
6.2.1 Pin assignment
The GRIPLINK controller has four device ports for connecting automation components, one input and one
output for the power supply and two Ethernet connections. The pin assignment is shown in Figure 2 shown.
Figure 2 : Connector
1Time from supply voltage >= 18V until the GRIPLINK controller is ready for operation.
2Time from connecting a WEISS ROBOTICS IEG 55-020 gripping module to an unoccupied device port until the gripping module is
ready for operation.

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X1 (power supply input), M8 connector
Pin
Strand color
Signal
Function
1
brown
+UB
Power supply +24 V
2
white
+UB
Power supply +24 V
3
blue
GND
Power supply 0 V
4
black
GND
Power supply 0 V
X2 (power supply output), M8 socket
Pin
Strand color
Signal
Function
1
Brown
+UB
Power supply +24 V
2
White
+UB
Power supply +24 V
3
Blue
GND
Power supply 0 V
4
Black
GND
Power supply 0 V
X3 to X6 (device port 0 to 3), M12 socket
Pin
Strand color
Signal
Function
1
Brown
L+
Power supply +24 V
2
White
RES0
Reserved
3
Blue
L-
Power supply 0 V
4
Black
C/Q
IO-Link communication
5
Gray
RES1
Reserved

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X7, X8 (Ethernet 0 and 1), M8 socket
Pin
Strand color
Signal
Function
1
Yellow
TD+
Send Ethernet line pair
2
White
RD+
Ethernet line pair received
3
Orange
RD-
Ethernet line pair received
4
Blue
TD-
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).
Figure 3 : Name plate
6.4 Display of the operating status
The operating status is indicated by several LEDs, some of which are multicolored, see Figure 4.
Figure 4 : Display of the operating status

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LED Display Meaning
Module state (1)
Green GRIPINK Controller is ready for operation
Flashing orange GRIPLINK controller has received an incorrect command
Red GRIPLINK Controller Error
Device port (2)
Green flashing
Connected device is initialized
Green continuous
light Connected device is ready for operation
Red continuous light
No driver found for the connected device
Red flashing
Device driver error
Red fast flashing
Port error (overtemperature, current consumption)
Ethernet (3, 4)
Green continuous
light Network connection established
Green flashing Network activity
If the LEDs (1) and (2) flash alternately red-green, the GRIPLINK controller is in update mode
(see chapter 8).

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7Assembly 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).
Ensure that the power supply can permanently provide the required maximum operating current
of all IO-Link devices in total.
7.1 Cascading of several GRIPLINK controllers
Several GRIPLINK controllers can be cascaded via the power supply output X2 and the Ethernet connection
X8.
Damage to the controller possible. Make sure that the current consumption at X2 is not ex-
ceeded.

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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).
7.2 Commissioning and configuration
For easy commissioning and configuration, the GRIPLINK Controller has an integrated web-based configura-
tion interface that allows configuration via a common web browser. To do this, connect the GRIPLINK Con-
troller to a local network or directly to the network interface of your computer and open the web interface
by typing the IP address of the GRIPLINK Controller into the address bar of your web browser. The IP address
is set to 192.168.1.40 in the delivery state, so that the web interface is available at http://192.168.1.40 can
be reached.
To be able to reach the web interface, your computer must be in the same subnet as the
GRIPLINK controller. For this purpose, the network settings of your computer may have to be ad-
justed. Please contact your system administrator.
The web interface is not compatible with Microsoft Internet Explorer. If possible, use an up-to-
date Chrome, Firefox, or Edge browser.

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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.
7.2.1 Locating the GRIPLINK Controller
To easily find the GRIPLINK controller in a plant at , the "Find" button can be used on the overview page.
After clicking on the button, the status LED (marked "1" in Figure 4) starts to flash alternately in color for a
few seconds.

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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
•Designation of the GRIPLINK controller
•Executing software updates (see chapter9.1)
•Adding licenses (see chapter 10)
7.2.3 Event log
The GRIPLINK controller keeps an event log in which messages are stored non-volatile. This log can be viewed
via the web interface and exported as a csv file.
Figure 7: Event log of the GRIPLINK controller

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7.2.4 Configuration of connected devices
Connected devices can also be parameterized and monitored via the web interface of the GRIPLINK control-
ler. To do this, first select the desired device on the overview page either via the tab of the corresponding
port or by clicking on the respective table line in the device overview. 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. Figure 9 shows the corresponding page
of the web application.
The log messages are not deleted after disconnecting the port and device. This means that mes-
sages from previously connected devices are still stored!

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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 . Reload the messages only when no robot application is running!
Figure 9: Event log of port 0