WEISS ROBOTICS GRIPLINK User manual

GRIPLINK PLUG-IN FOR EPSON
Version 23.0.0
November 2021

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Table of contents
1 Introduction........................................................................................................................ 3
1.1 Notation and symbols......................................................................................................... 3
1.2 Intended use....................................................................................................................... 3
1.3 System requirements.......................................................................................................... 3
1.4 License terms...................................................................................................................... 4
2 Installation .......................................................................................................................... 5
2.1 Software installation........................................................................................................... 5
2.2 Network configuration........................................................................................................ 5
3 Command set reference ..................................................................................................... 7
3.1 Open connection - CONNECT.............................................................................................. 8
3.2 Close Connection –DISCONNECT ....................................................................................... 9
3.3 Enable device - ENABLE .................................................................................................... 10
3.4 Disable device - DISABLE................................................................................................... 11
3.5 Get Device State –DEVSTATE........................................................................................... 12
3.6 Get Device State of all devices –MDEVSTATE.................................................................. 13
3.7 Reference gripper - HOME................................................................................................ 14
3.8 Grip part - GRIP................................................................................................................. 15
3.9 Grip part with multiple grippers –MGRIP ........................................................................ 16
3.10 Release part - RELEASE ..................................................................................................... 17
3.11 Release part with multiple grippers –MRELEASE............................................................. 18
3.12 Get sensor value –VALUE................................................................................................. 19
3.13 Control gripping force retention - CLAMP........................................................................ 20
3.14 Control of the LED display –LED........................................................................................ 21
3.15 Configure grip settings - GRIPCFG..................................................................................... 22
4 Error Handling................................................................................................................... 24
5 Device States..................................................................................................................... 26
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
3 Command set reference ..................................................................................................... 6
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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

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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. 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 to GRIPLINK
Griplink_Disconnect()
Close connection GRIPLINK
Griplink_Enable()
Enable gripping module
Griplink_Disable()
Disable gripping module
Griplink_DevState()
Query device state
Griplink_MultiDevState()
Query device state of all devices
Griplink_Value()
Query sensor value(s)
Griplink_Home()
Reference gripping module
Griplink_Grip()
Grip workpiece
Griplink_MultiGrip()
Grip workpiece with multiple grippers
Griplink_Release()
Release workpiece
Griplink_MultiRelease()
Release workpiece with multiple grippers
Griplink_Hold()
Control gripping force retention PERMAGRIP®
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. To control timing conditions when communicating with the
GRIPLINK, a Timer provided by the robot controller will be used. The ID of this Timer can be selected
freely within the allowed range.
Please note that the selected Timer 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, intTimerId 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.
intTimerId Timer ID of the timer to be used. Range between 0 and 63.
Return value
-
Example
Open a connection to the GRIPLINK with IP address 192.168.1.40 by using Port 201 and Timer 0:
Griplink_Connect(“192.168.1.40”, 201, 0)

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3.2 Close Connection –DISCONNECT
This command closes a connection that has been established previously by the Griplink_Connect()
function.
Signature
Function Griplink_Disconnect()
Parameters
-
Return value
-
Example
Open a connection to the GRIPLINK with IP address 192.168.1.40 by using Port 201 and Timer 0:
Griplink_Disconnect()

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3.3 Enable device - ENABLE
This command activates the device connected to the given port of the GRIPLINK. Griplink_Enable()
must be called 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)
Parameters
ubDevicePort Port index (0 to 3)
Return value
-
Example
Enable device connected at GRIPLINK port 0:
Griplink_Enable(0)

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3.4 Disable device - DISABLE
This command deactivates the device connected to the given port of the GRIPLINK. This function can
be used, for example, when using an automatic tool changer. If a gripping module from WEISS
ROBOTICS is connected, it deactivates the drive of the selected gripping module, e.g. when using a tool
changer.
Signature
Function Griplink_Disable(ubGripperID As UByte)
Parameters
ubDevicePort Port index (0 to 3)
Return value
-
Example
Change gripping module at port 1:
'Open connection between robot controller and GRIPLINK
Griplink_Connect(“192.168.1.40“, 201, 0)
'Enable drive and workpiece monitoring for gripping module at port 1
Griplink_Enable(1, True)
'Execute program (e. g. pick & place)
'…
'Disable gripping module at port 1
Griplink_Disable(1)
'Now the gripping module can be removed.
'…
'Enable new gripping module
Griplink_Enable(1, True)
'Continue with program
'…

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3.5 Get Device State –DEVSTATE
This function returns the device state of the selected device. The device state is provided as an integer
value. To simplify and improve readability, the file Griplink.inc defines constants that can be used for
processing gripping states.
Signature
Function Griplink_DevState(ubDevicePort As UByte) As Integer
Parameters
ubDevicePort Port index (0 to 3)
Return value
Current device state (cf. chapter 5)
Example
Wait until the device state of the gripping module at port 2 changes to HOLDING (4):
#include “Griplink.inc“
'Query gripping state of gripping module at port 2
Integer intDevState
'The constant DS_HOLDING is defined in Griplink.inc
Do While intDevState <> DS_HOLDING
intDevState = Griplink_DevState(2)
Loop

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3.6 Get Device State of all devices –MDEVSTATE
This function returns the device state of all connected devices. The device state is provided as an
integer value. To simplify and improve readability, the file Griplink.inc defines constants that can be
used for processing gripping states.
Signature
Function Griplink_MultiDevState(ByRef intDevStates())
Parameters
intDevStates() Integer array of length 4 to store the requested device state values
Return value
-
Example
Wait until the device state of the gripping module at port 2 changes to HOLDING (4):
#include “Griplink.inc“
Integer intDevStates(4)
'Query device state of all devices
Griplink_MultiDevState(ByRef intDevStates())
'The constant DS_HOLDING is defined in Griplink.inc
Do While intDevState(2) <> DS_HOLDING
Griplink_MultiDevState(ByRef intDevStates())
Loop

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3.7 Reference gripper - HOME
References the selected servo gripper. The command executes a reference run of the gripping module
and waits until it’s completed. After the command has been executed, the fingers of the gripping
module are without force and must be moved to a defined position by using Griplink_Grip() /
Griplink_MultiGrip() or Griplink_Release() / Griplink_MultiRelease().
The direction of the reference run can be configured via the web interface of the
GRIPLINK interface converter.
Signature
Function Griplink_Home(ubDevicePort As UByte)
Parameters
ubDevicePort Port index (0 to 3)
Return value
-
Example
Reference gripping module at port 3:
#include “Griplink.inc”
Integer intDevState
'Reference gripping module at port 3
intDevState = Griplink_Home(3)
If intDevState = DS_IDLE Then
'Gripping module is referenced
Else
'Gripping module is not referenced
EndIf

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3.8 Grip part - GRIP
Grips a workpiece with the selected gripping module and grip preset. The command waits until the
gripping state changes to either "HOLDING" or "NO PART".
The gripping parameters can be configured via the web interface of the GRIPLINK
interface converter.
Signature
Function Griplink_Grip(ubDevicePort As UByte, ubGripIndex As UByte) As
Integer
Parameters
ubDevicePort Port index (0 to 3)
ubGripIndex Grip to be executed (range depends on gripper type)
Return value
Current device state (cf. chapter 5)
Example
Gripping module at port 0 shall execute grip preset 2. If no part is found, display a message:
#include Griplink.inc
Integer intDevState
intDevState = Griplink_Grip(0, 2)
'The constants DS_NO_PART and DS_HOLDING are defined in Griplink.inc
If intDevState = DS_NO_PART Then
Print “No part found”
ElseIf intDevState <> DS_HOLDING Then
Print “Unexpected grip state”
EndIf

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3.9 Grip part with multiple grippers –MGRIP
This function executes a grip command with the selected gripping modules. The function waits until all
gripping modules have reached either "HOLDING" or "NO PART" state.
The gripping parameters can be configured via the web interface of the GRIPLINK
interface converter.
Signature
Function Griplink_MultiGrip(boolGripper0 As Boolean, boolGripper1 As
Boolean, boolGripper2 As Boolean, boolGripper3 As Boolean, ubGripIndex
As UByte)
Parameters
boolGripper0 True Gripping module at port 0 is selected, workpiece will be gripped
False Gripping module at port 0 is not selected
boolGripper1 True Gripping module at port 1 is selected, workpiece will be gripped
False Gripping module at port 1 is not selected
boolGripper2 True Gripping module at port 2 is selected, workpiece will be gripped
False Gripping module at port 2 is not selected
boolGripper3 True Gripping module at port 3 is selected, workpiece will be gripped
False Gripping module at port 3 is not selected
ubGripIndex Selected grip preset (range depends on gripper type)
Return value
-
Example
Gripping modules at port 1 and 2 shall grip a workpiece. Display a message if both workpieces
were gripped correctly:
#include Griplink.inc
Griplink_MultiGrip(False, True, True, False, 2)
'The constants DS_NO_PART and DS_HOLDING are defined in Griplink.inc
If Griplink_GetState(1) = DS_HOLDING And Griplink_GetState(2) =
DS_HOLDING Then
Print “Holding parts”
EndIf

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3.10 Release part - RELEASE
Releases the workpiece previously gripped with the selected gripping module. The command waits
until the workpiece has been released.
The gripping parameters can be configured via the web interface of the GRIPLINK
interface converter.
Signature
Function Griplink_Release(ubDevicePort As UByte, ubGripIndex As UByte)
Parameters
ubDevicePort Port index (0 to 3)
ubGripIndex Selected grip preset (range depends on gripper type)
Return value
-
Example
Gripping module at port 0 shall release a workpiece previously gripped with grip preset 2:
#include Griplink.inc
Integer intDevState
intDevState = Griplink_Release(0, 2)
'The constant DS_RELEASED is defined in Griplink.inc
If intDevState = DS_RELEASED Then
Print “Part released”
EndIf

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3.11 Release part with multiple grippers –MRELEASE
Releases the workpiece(s) gripped with the selected gripping modules. The function waits until all
gripping modules have reached the RELEASED state.
The gripping parameters can be configured via the web interface of the GRIPLINK
interface converter.
Signature
Function Griplink_MultiRelease(boolGripper0 As Boolean, boolGripper1 As
Boolean, boolGripper2 As Boolean, boolGripper3 As Boolean, ubGripIndex
As UByte)
Parameters
boolGripper0 True Gripping module at port 0 is selected, workpiece will be released
False Gripping module at port 0 is not selected
boolGripper1 True Gripping module at port 1 is selected, workpiece will be released
False Gripping module at port 1 is not selected
boolGripper2 True Gripping module at port 2 is selected, workpiece will be released
False Gripping module at port 2 is not selected
boolGripper3 True Gripping module at port 3 is selected, workpiece will be released
False Gripping module at port 3 is not selected
ubGripIndex Selected grip preset (range depends on gripper type)
Return value
-
Example
Gripping module at ports 1, 2 and 3 release a workpiece previously gripped with grip preset 3:
#include Griplink.inc
Griplink_MultiRelease(True, True, True, False, 3)

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3.12 Get sensor value –VALUE
This command returns current measured value of a connected sensor. If a WEISS ROBOTICS gripping
module is connected, the command can be used to read the current finger position in micrometers. If
more than one sensor value per device is available, the desired value can be selected by using the
parameter ubIndex.
For Weiss Robotics grippers, value index 0 returns the finger position in micrometers (µm).
Signature
Function Griplink_Value(ubDevicePort As UByte, ubIndex As UByte) As
Int32
Parameters
ubDevicePort Port index (0 to 3)
ubIndex Value index (range depends on device)
Return value
Sensor value (e. g. Finger position in µm)
Example
Read the current finger position of the gripper at port 0:
Int32 intPos
intPos = Griplink_Value(0, 0)
If intPos > 80000 Then
Print “Finger position is 80 mm”
EndIf