WEISS ROBOTICS GRIPLINK-ET4 User manual

GRIPLINK PLUG-IN FOR ABB
Version 1.0
December 2022

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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 Add-In Installation............................................................................................................... 4
2.2 Add the Add-In to an existing project................................................................................. 4
2.3 Network configuration........................................................................................................ 8
3 Command Set Reference .................................................................................................... 9
3.1 Open connection - CONNECT............................................................................................ 10
3.2 Close Connection –DISCONNECT ..................................................................................... 11
3.3 Enable device - ENABLE .................................................................................................... 12
3.4 Disable device - DISABLE................................................................................................... 13
3.5 Get Device State –DEVSTATE........................................................................................... 14
3.6 Reference gripper - HOME................................................................................................ 15
3.7 Grip part - GRIP................................................................................................................. 16
3.8 Grip part with multiple grippers –MGRIP ........................................................................ 17
3.9 Release part - RELEASE ..................................................................................................... 18
3.10 Release part with multiple grippers –MRELEASE............................................................. 19
3.11 Wait for state transition and return state –WSTR........................................................... 20
3.12 Wait for multiple state transitions –MWAITFOR............................................................. 21
3.13 Get sensor value –VALUE................................................................................................. 22
3.14 Control gripping force retention - CLAMP ........................................................................ 23
3.15 Control of the LED display –LED........................................................................................ 24
3.16 Configure grip settings - GRIPCFG..................................................................................... 25
3.17 Assert device type - DEVASSERT....................................................................................... 26
4 Wizard Easy Programming................................................................................................ 27
5 Error Handling................................................................................................................... 29
6 Device States..................................................................................................................... 30

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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 ABB is the software link between the GRIPLINK interface converter and the
robot controller and enables the easy integration of WEISS ROBOTICS’ GRIPLINK technology into ABB
robot systems.
This manual describes the functions of the GRIPLINK plug-in. For information about
installation and operation of the GRIPLINK interface converter please refer to the
GRIPLINK 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 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
To run the GRIPLINK plug-in, the following ABB products are required:
•ABB Robot Controller with RobotWare 7.1 or newer
•ABB RobotStudio® programming environment, version 2022.3 or newer
Please contact ABB or your ABB 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 Add-In Installation
To operate the GRIPLINK, the GRIPLINK Add-In for ABB RobotStudio® provided by WEISS ROBOTICS is
required on the robot controller. To install the GRIPLINK Add-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. Open the ABB RobotStudio® software. Choose the ribbon “Add-Ins”. Note that you don’t
need to open a project to install add-ins (cf. Figure 1).
Figure 1
2. In the toolbar, click on “Install Package” and select the Weiss Robotics GRIPLINK Add-In you
previously downloaded. The add-in will be installed and should now be available in the
“Installed Packages” tree view on the left.
2.2 Add the Add-In to an existing project
After installing the Add-In for ABB RobotStudio®, you can add the functionality to a new or existing
robot controller running RobotWare 7.0 or higher.
1. In ABB RobotStudio®, open an existing project or create a new one. Please refer to the
RobotStudio documentation or ABB support for details.
2. From the menu, select the “Controller” tab and choose “Installation Manager” from the
toolbar (cf. Figure 2).

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Figure 2
3. Select the controller of your previously opened or created project. This can also be a virtual
controller. Note that you might have to adjust the search path for virtual controllers in the
preferences on the left (Figure 3).
4. After you’ve selected the appropriate controller, click on the “Edit” button on the bottom right
side of the Installation Manager window (Figure 3).
Figure 3
5. Click on the “Add” button to add additional packages to the controller (Figure 4)

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Figure 4
6. Choose “Griplink” and click “OK” (Figure 5)
Figure 5
7. Select “Next” until you get to the “Options” panel. Select “Applications” from the tab list and
make sure “Griplink” is selected. Click next and finish the dialogue. Close the Installation
Manager (Figure 6).

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Figure 6
8. For the new settings to take effect, you’ll have to restart your controller (Figure 7). After that,
the functions described below will be available for use.
Figure 7: Restart controller

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2.3 Network configuration
The connection between the GRIPLINK and the robot controller is established via TCP/IP networking.
To use TCP/IP networking, the robot controller must have an IP address that is compatible with the
address assigned to the GRIPLINK. Please refer to the documentation of your ABB robot system to find
out how to set an appropriate IP address for your robot controller. When using the simulation in ABB
RobotStudio®, the IP address of your computer’s network interface will be used to connect to the
GRIPLINK. In this case, please make sure the GRIPLINK is connected to your computer and can be
accessed via its web interface.
The IP address of the GRIPLINK is set to 192.168.1.40 by default and can be adjusted via its web
interface. To change the IP address, connect the GRIPLINK 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, please refer to the
associated user’s manual.
The IP addresses of both the robot controller and the GRIPLINK interface converter
must be 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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3Command Set Reference
The GRIPLINK plug-in provides a number of functions to control gripping modules from WEISS
ROBOTICS as well as sensors and actors from several third-party vendors. Both single and multi-gripper
commands are available.
Multi-gripper commands
With the multi-gripper commands, several actors 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. Depending on device: Activate 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.
Procedure/Function
Description
WRO_GriplinkConnect
Open connection to GRIPLINK
WRO_GriplinkDisconnect
Close connection GRIPLINK
WRO_GriplinkDevAssert
Make sure a specific device is connected to the selected GRIPLINK port
WRO_GriplinkEnable
Enable device
WRO_GriplinkDisable
Disable device
WRO_GriplinkDevState
Query device state
WRO_GriplinkValue
Query sensor value(s)
WRO_GriplinkHome
Reference gripping module
WRO_GriplinkGrip
Grip workpiece
WRO_GriplinkMultiGrip
Grip workpiece with multiple grippers
WRO_GriplinkRelease
Release workpiece
WRO_GriplinkMultiRelease
Release workpiece with multiple grippers
WRO_GriplinkWaitFor
Wait for state transition
WRO_GriplinkMultiWaitFor
Wait for multiple state transitions
WRO_GriplinkClamp
Control gripping force retention PERMAGRIP®
WRO_GriplinkLED
Control LED display
WRO_GriplinkGripCfg
Set grip configuration