WEISS ROBOTICS GRIPLINK User manual

GRIPLINK PLUGIN FOR KUKA
Version 1.0.0

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Content
1 Introduction........................................................................................................................ 2
1.1 Notation and symbols......................................................................................................... 2
1.2 Intended use....................................................................................................................... 2
1.3 System requirements.......................................................................................................... 2
1.4 License terms...................................................................................................................... 3
2 Installation .......................................................................................................................... 4
2.1 Preparation of the robot..................................................................................................... 4
2.2 Configuration of the XML file.............................................................................................. 5
2.3 Installing the software ........................................................................................................ 6
2.4 Behavior in case of error..................................................................................................... 7
3 Command Reference .......................................................................................................... 8
3.1 Establish connection - CONNECT........................................................................................ 9
3.2 Activate device - ENABLE.................................................................................................. 10
3.3 Query grab state - GETSTATE............................................................................................ 11
3.4 Deactivate device - DISABLE ............................................................................................. 12
3.5 Referencing the gripping module - HOME........................................................................ 13
3.6 Gripping the workpiece - GRIP.......................................................................................... 14
3.7 Simultaneous gripping of workpieces - MGRIP................................................................. 15
3.8 Release workpiece - RELEASE ........................................................................................... 16
3.9 Simultaneous release of workpieces - MRELEASE............................................................ 17
3.10 Parameterize gripping recipes - SETGRIPCFG................................................................... 18
3.11 Verify device types - DEVASSERT...................................................................................... 19
3.12 Query of position and sensor values - VALUE................................................................... 20
3.13 Control gripping force retention - CLAMP........................................................................ 21
3.14 Control of the LED display - LED........................................................................................ 22
3.15 Terminating the connection of GRIPLINK and robot - DISCONNECT................................ 23
Gripping state ................................................................................................................... 24
Error numbers and ways to fix them ................................................................................ 25

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1Introduction
With the GRIPLINK technology, servo-electric and smart pneumatic gripping modules from WEISS
ROBOTICS as well as sensors/actors from selected third-party vendors can be connected to robot
systems from leading manufacturers via a network connection. The GRIPLINK plug-in for KUKA is the
software link between the GRIPLINK-ET4 interface converter and the robot controller and enables the
easy integration of WEISS ROBOTICS’ GRIPLINK technology into KUKA robot systems..
This manual describes the functions of the GRIPLINK plug-in. For information about
installation and operation of the GRIPLINK-ET4 interface converter please refer to the
GRIPLINK-ET4 user’s manual. The manual can be found online on
www.griplink.de/manuals
1.1 Notation and symbols
For a better understanding, the following symbols are used in this manual:
Functional or safety relevant information. Non-compliance may endanger the safety of
personnel and the system, damage the device or impair its function.
Additional information for a better understanding of the described facts.
Reference to further information.
1.2 Intended use
The software “GRIPLINK plug-in“ is intended for communication between the GRIPLINK-ET4 interface
converter from WEISS ROBOTICS and a robot controller. The requirements of the applicable guidelines
as well as the installation and operation instructions in this manual must be noted and adhered to. Any
other use or use beyond that is considered improper use. The manufacturer is not liable for any
damage resulting from this.
1.3 System requirements
One of the following KUKA robot controllers is required to run this software:
•KR C 4 or 5
The following robot option is required to run the software:
•KUKA Ethernet KRL
Please contact KUKA or your KUKA distributor in order to purchase these products.
Feldfunktion geändert

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The IP addresses of both the robot controller and the GRIPLINK-ET4 interface converter
must be located within the same subnet range. Please contact your network
administrator if you experience any problems assigning appropriate IP addresses to the
devices.
1.4 License terms
The GRIPLINK plug-in is protected by copyright. The software package includes the applicable license
terms. By installing and using the GRIPLINK plug-in, the user accepts these license terms.

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2Installation
2.1 Preparation of the robot
Copy the XML file GripLink.xml into the folder C:\KRC\ROBOTER\Config\User\Common
\EthernetKRL of your robot controller. This file path is only visible if you are acting as an expert (level
3) or higher.

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2.2 Configuration of the XML file
In the XML file, enter the IP address of the GRIPLINK (192.168.1.40 by default) in the <IP> field, and
the port number 10001 accordingly in the <PORT> field. If you have changed the IP address of the
GRIPLINK Controller, adjust the IP address in the XML file accordingly.

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2.3 Software Installation
Make sure that you are using the latest version of the GRIPLINK plugin. The latest
version can be downloaded from www.griplink.de/software.
The GRIPLINK plug-in for KUKA can be installed via the KUKA WorkVisual software or by using a USB
thumb drive to copy the files directly to the robot controller.
2.3.1 Installation via WorkVisual
Copy the GripLink_Kuka.dat and GripLink_Kuka.src files in WorkVisual to the program folder. Then
copy files to your robot using the "Transfer changes" option.
2.3.2 Direct copy to robot controller
Copy the contents of the ZIP archive to a USB thumb drive. Then connect the USB thumb drive to the
robot controller or to the smartPAD and copy the GripLink_Kuka.src and GripLink_Kuka.dat files to the
folder KRC:\R1\Program of your robot controller.
If your filter setting is not "File" but "Module", you can copy the GripLink_Kuka module accordingly.

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2.4 Behavior in case of error
If an error occurs within the GRIPLINK plug-in or during communication with the GRIPLINK controller,
the running robot program will be stopped by means of an error. This usually interrupts and aborts any
running motion of the robot.
In addition, the connection between the robot controller and the GRIPLINK Controller will be closed
and the user will be prompted to deselect the running program.

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3Command Reference
The GRIPLINK plugin provides a collection of generic motion and grip functions as well as functions for
reading connected sensors. The commands are defined as globally visible subprograms, which receive
their parameters as transfer values. To execute a command, the corresponding subroutine must be
called.
The basic program flow with the GRIPLINK plugin is always as follows:
1. Establish connection with GRIPLINK_CONNECT
2. Activate gripping module or sensor with GRIPLINK_ENABLE
3. For servo gripping modules without absolute encoder: Reference gripping module with
GRIPLINK_HOME
4. Grip or release with GRIPLINK_GRIP or GRIPLINK_RELEASE
5. Disconnect with GRIPLINK_DISCONNECT
The commands available with the GRIPLINK plug-in are described below.

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3.1 Establish connection - C ONNECT
This command establishes the connection between the GRIPLINK controller and the robot controller
according to the specifications in the file GripLink.xml. The command waits until the connection is
established or a timeout occurs. If the connected hardware or software is not compatible, an error will
be thrown.
If GRIPLINK-ET4 commands are executed before GRIPLINK_CONNECT, this will raise an error.
Syntax
GRIPLINK_CONNCECT()
Parameters
none
Example
Establish connection between robot and GRIPLINK:
GRIPLINK_CONNECT()