WEISS ROBOTICS GRIPLINK-ET4 User manual

GRIPLINK PLUG-IN FOR EPSON
Version 1.0.0

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Table of contents
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 Software installation........................................................................................................... 4
2.2 Network configuration........................................................................................................ 4
2.3 Workpiece detection and monitoring................................................................................. 5
3 Command set reference ..................................................................................................... 7
3.1 Open connection - CONNECT.............................................................................................. 8
3.2 Enable drive - ENABLE......................................................................................................... 9
3.3 Get Grip State –GET STATE .............................................................................................. 10
3.4 Read gripping state from global variable.......................................................................... 11
3.5 Disable drive - DISABLE..................................................................................................... 12
3.6 Disable drives of all modules connected –DISABLE ALL .................................................. 14
3.7 Reference gripper - HOME................................................................................................ 15
3.8 Reference multiple grippers –MHOME............................................................................ 16
3.9 Grip part - GRIP................................................................................................................. 17
3.10 Grip part with multiple grippers –MGRIP ........................................................................ 18
3.11 Release part - RELEASE ..................................................................................................... 19
3.12 Release part with multiple grippers –MRELEASE............................................................. 20
3.13 Get finger position –GET POSITION ................................................................................. 21
3.14 Control gripping force retention - PERMAGRIP................................................................ 22
3.15 Control gripping force retention for multiple grippers –MPERMAGRIP.......................... 23
3.16 Control of the LED display –LED........................................................................................ 24
4 Error Handling................................................................................................................... 25
4.1 Handle errors in GRIPLINK functions ............................................................................... 25
4.2 Handle errors in GRIPLINK background daemon.............................................................. 26

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1Introduction
With the GRIPLINK technology, servo-electric and smart pneumatic gripping modules from WEISS
ROBOTICS can be controlled by robot controllers of all leading robot brands via simple TCP/IP network
connections.
The GRIPLINK plug-in for EPSON 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 EPSON 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
In order to run the GRIPLINK plug-in, the following EPSON products are required:
•EPSON Robot Controller RC700-A or RC90-B
•EPSON RC+ 7.0 programming environment, version 7.4.5 or higher
Please contact EPSON or your EPSON distributor in order to purchase these products.

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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 Software installation
To operate the GRIPLINK-ET4, the GRIPLINK plug-in provided by WEISS ROBOTICS is required on the
robot controller. To install the GRIPLINK plug-in, please execute the following steps:
Please make sure the most recent version of the GRIPLINK plug-in is used. It can be
downloaded from www.griplink.de/software.
1. Unzip the previously downloaded ZIP archive with the GRIPLINK plug-in into a directory of
your choice
2. Create a new project in the EPSON RC+ programming environment or open an existing
project to add the GRIPLINK plug-in.
3. Import the extracted files into your EPSON RC+ project using the menu item "File" ->
"Import". Please note that the package contains several files with the extensions *.prg and
*.inc. Both file types must be imported separately.
4. The necessary functions for using the GRIPLINK-ET4 in your project are now available.
2.2 Network configuration
The connection between the GRIPLINK-ET4 and the robot controller is established via TCP/IP
networking. To use TCP/IP networking, the robot controller must be assigned an IP address in the
system settings. Please note that the IP address of the robot controller must be in the same subnet as
the IP address of the GRIPLINK-ET4.
The IP address of the GRIPLINK is set to 192.168.1.40 by default and can be adjusted via its web
interface. To do this, connect the GRIPLINK-ET4 to a PC or laptop and open the web interface in your
favorite browser by entering http://192.168.1.40 into the address bar. You can access the IP settings
by pressing the "Config" button.
The GRIPLINK command interface accepts incoming connections on port 10001 (TCP).
For more information about the configuration of the GRIPLINK-ET4, please refer to the
associated user’s manual.
The IP address of the robot controller can be set in the EPSON RC+ programming environment via the
menu item "Settings" → "System Settings" in "Controller" → "Configuration" (cf. Figure 1).
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.

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Figure 1: Setting the IP address for the robot controller
2.3 Workpiece detection and monitoring
Gripping modules from WEISS ROBOTICS have integrated workpiece detection and monitoring, which
makes it possible to permanently monitor the entire gripping process without additional sensors, thus
significantly increasing the reliability of the handling process.
The GRIPLINK plug-in permanently communicates with the gripping module in the background and
continuously queries its status. This way, the robot program can react immediately to workpieces that
are not available or have been lost.
2.3.1 Workpiece detection
The workpiece detection makes it possible to immediately recognize whether a workpiece has been
gripped correctly or not. If the gripping fingers are blocked within the specified position window and
the desired gripping force has been reached, the gripping module changes to HOLDING state.
Otherwise the gripping module changes to NO PART state. The gripping state after gripping the
workpiece is given by the function Griplink_Grip() (cf. chapter 3.9) as return value. In addition, the
gripping state can be queried at any time using the function Griplink_GetState() (cf. chapter 3.3).
A detailed description of the gripping states can be found in the operating instructions
for the respective gripping module.

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2.3.2 Workpiece monitoring
After a workpiece has been gripped correctly, i. e. the HOLDING state has been reached, the integrated
workpiece monitoring starts automatically on the gripping module. If the workpiece now gets lost or
removed before the Griplink_Release() command (see chapter 3.11) is executed to release the
workpiece intentionally, the status of the gripping module changes to PART LOST.
The behavior of the robot program in case of a lost workpiece can be specified when the gripping
module is activated using the Griplink_Enable() command (see chapter 3.2). If the workpiece
monitoring is activated here, the robot program will be interrupted throwing an error. If, on the other
hand, the workpiece monitoring is not activated, the GRIPLINK plug-in will silently ignore the lost
workpiece and the robot program will continue without an error message.

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3Command set reference
The GRIPLINK plug-in provides a number of gripping functions. Both single and multi-gripper
commands are available.
Multi-gripper commands
With the multi-gripper commands, several gripping modules can be addressed at once. These
commands are particularly suitable for handling large or flexible workpieces with multiple gripping
modules simultaneously.
The basic program flow with the GRIPLINK plug-in is always as follows:
1. Establish connection with CONNECT
2. Activate gripping module and connection monitoring with ENABLE
3. For servo gripping modules without absolute encoder: Reference gripping module with
HOME / MHOME
4. Gripping / releasing with GRIP / MGRIP or RELEASE / MRELEASE
The following chapters describe the available commands provided by the plug-in in detail.
Function
Description
Griplink_Connect()
Open connection
Griplink_Enable()
Enable gripping module
Griplink_Disable()
Disable gripping module
Griplink DisableAll()
Disable all connected gripping modules
Griplink_GetState()
Query gripping state
Griplink_Home()
Reference gripping module
Griplink_MulitHome
Reference multiple gripping modules
Griplink_Grip()
Grip workpiece
Griplink_MultiGrip()
Grip workpiece with multiple grippers
Griplink_Release()
Release workpiece
Griplink_MultiRelease()
Release workpiece with multiple grippers
Griplink_GetPos()
Get finger position
Griplink_Permagrip()
Control gripping force retention PERMAGRIP®
Griplink_MultiPermagrip()
Control gripping force retention for multiple grippers
Griplink_LED()
Control LED display

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3.1 Open connection - CONNECT
This command establishes the connection between the GRIPLINK-ET4 interface converter and the
robot controller. To open a network connection, one of 16 available so-called Ports (range 201 to 216)
on the robot controller must be selected. In order to be able to permanently monitor the connection
and the status of the connected gripping modules, a separate task will be started on the robot
controller that runs in background and continuously checks the gripping state. The identification
number of this task can be selected freely within the allowed range. In addition, a Timer and a SyncLock
object provided by the robot controller will be used. The IDs of these objects can also be selected freely
within the allowed range.
Please note that the selected Port as well as the Task ID, Timer ID and SyncLock ID must
be available exclusively for the GRIPLINK plug-in and must not be used anywhere else in
the robot program.
The IP address of the GRIPLINK-ET4 can be changed via the web interface.
Signature
Function Griplink_Connect(strIPAddr$ As String, intControllerPortNo As
Integer, intTaskId As Integer, intTimerId As Integer, intSyncLockId As
Integer)
Parameters
strIPAddr$ IP adress of the GRIPLINK interface converter as string
intControllerPortNumber Port number to be used for the TCP/IP connection. Range
between 201 und 216.
intTaskId Task ID to be used for the background task (daemon). Must be
between 1 and 31. Usually Task ID 1 is used by the main
program, so at least Task ID 2 or higher must be used.
intTimerId Timer ID of the timer to be used. Range between 0 and 63.
intSyncLockId Lock ID of the SyncLock object to be used. Range between 0 and
63.
Return value
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Example
Open a connection to the GRIPLINK with IP address 192.168.0.40 by using Port 201, Task ID 2,
Timer 0 and SyncLock ID 0:
Griplink_Connect(“192.168.0.40”, 201, 2, 0, 0)

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3.2 Enable drive - ENABLE
This command activates the gripping module and the connection monitoring. If the connection to the
gripping module gets lost (e.g. due to a cable break), an error will be raised and the robot program will
be stopped. In addition, all ongoing robot motions will be stopped. After enabling, the connection
monitoring can be disabled with the command Griplink_Disable() (cf. chapter 3.4), e. g. to perform a
tool change.
Workpiece monitoring
The workpiece monitoring can be switched on or off by setting the function’s
boolEnableGripMonitoring argument. If the workpiece monitoring is active and the gripping module
loses a previously picked workpiece, an error will be raised and the robot program will be stopped. If
this behavior is not desired, the workpiece monitoring must be disabled.
Griplink_Enable() must be executed after Griplink_Connect() for all connected gripping modules. If
GRIPLINK commands are executed before Griplink_Enable() is executed, an error will be raised and the
robot program will be stopped.
Signature
Function Griplink_Enable(ubGripperID As UByte, boolEnableGripMonitoring
As Boolean) As Integer
Parameters
ubGripperID Index of the gripping module (0 to 3)
boolEnableGripMonitoring Workpiece monitoring: True = on, False = off
Return value
Current gripping state (cf. 4)
Example
Enable drive and workpiece monitoring for the gripping module connected at GRIPLINK port 0:
Integer intGripState
intGripState = Griplink_Enable(0, True)