SCHUNK WSG Series Montageanleitung

original software manual

Fieldbus Interface

WSG

Software manual

Superior Clamping and Gripping

Imprint

01.00|WSG |en

Imprint

This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely

supplied to our customers and operators of our products and forms part of the product.

This documentation may not be duplicated or made accessible to third parties, in particu-

lar competitive companies,

without our prior permission.

Technical changes:

We reserve the right to make alterations for the purpose of technical improvement.

Document number: 0389732

Edition: 01.00 |18/09/2015|en

Dear customer,

congratulations on choosing a SCHUNK product. By choosing SCHUNK, you have opted for

the highest precision, top quality and best service.

You are going to increase the process reliability of your production and achieve best

machining results –to the customer's complete satisfaction.

SCHUNK products are inspiring.

Our detailed assembly and operation manual will support you.

Do you have further questions? You may contact us at any time –even after purchase.

Kindest Regards

Yours SCHUNK GmbH & Co. KG

Spann- und Greiftechnik

Bahnhofstr. 106 –134

D-74348 Lauffen/Neckar

Tel. +49-7133-103-0

Fax +49-7133-103-2399

[email protected]

www.schunk.com

Table of contents

01.00|WSG |en

Table of contents

Introduction ............................................................................................................. 4

Interface................................................................................................................... 5

2.1

PROFIBUS.................................................................................................................. 5

2.1.1

Installing the GSD file .................................................................................... 5

2.1.2

Configuration ................................................................................................ 6

2.2

PROFINET.................................................................................................................. 6

2.2.1

Installing the GSDML file............................................................................... 6

2.2.2

Configuration ................................................................................................ 7

Description............................................................................................................... 8

3.1

Output Registers (PLC to WSG) ................................................................................ 8

3.2

Input Registers (WSG to PLC) ................................................................................. 10

3.3

Diagnosis Messages PROFIBUS............................................................................... 13

Commands .............................................................................................................. 14

4.1

MOVE - Move the gripper fingers .......................................................................... 14

4.2

GRASP - Grasp a part .............................................................................................. 15

4.3

RELEASE - Release a part ........................................................................................ 16

4.4

HOMING - Referencing the gripper fingers............................................................ 17

4.5

STOP/ACK - Stop movement or acknowledge a FAST STOP .................................. 18

4.6

FAST STOP - Raise a Fast Stop with turning off the motor..................................... 19

4.7

JOG+ and JOG- - Jog Mode in positive and negative direction .............................. 20

Fieldbus Monitor ..................................................................................................... 22

5.1

Appendix A: Status Codes....................................................................................... 23

5.2

Appendix B: System State Flags.............................................................................. 24

5.3

Appendix C: Grasping States .................................................................................. 27

5.4

Appendix D: Demo Program................................................................................... 28

Introduction

01.00|WSG |en

Introduction

The following manual contains the description of the fieldbus in-

terfaces PROFIBUS and PROFINET.

This manual assumes that you are familiar with the PROFIBUS

and/or PROFINET technology and the Siemens SIMATIC software.

The WSG family of grippers provides interfaces to CAN-bus, PROFI-

BUS DP V0 and/or PROFINET, dependent on the gripper type.

All grippers contain an Ethernet TCP/IP as parametrisation and

communication interface.

The description of the parametrisation and communication inter-

faces CAN-bus and Ethernet TCP/IP are contained in the software

manual Command Set Reference.

Further information is contained in the assembly and operating

manual of the gripper.

Interface

01.00|WSG |en

Interface

Each gripper is displayed via an I/O register space which is periodi-

cally synchronized with the PROFIBUS master or the PROFINET

controler (e.g. PLC).

Interfaces are selected and configured via the web interface of the

gripper. To enable this function, the gripper must be connected

with a local company network or directly connected with a net-

work interface of a computer or laptop.

Further information can be found in the assembly and operating manual

of the gripper and in the software manual Command Set Reference.

PROFIBUS

PROFIBUS and PROFINET use the same I/O register. Each PROFIBUS

slave has an I/O register space that is periodically updated and read

by the PROFIBUS Master. The I/O-Space of the gripper is pre-

configured at master-side by using the device profile. Further infor-

mation on the particular I/O register, (3, Page 8).

Installing the GSD file

NOTE

The GSD file can installed in Siemens STEP7 v11.0 (TIA) and newer

The GSD file is provided as a ZIP-compressed package that contains

the following files:

•WEIS5555.gsd (device description file)

•WSG_D.bmp (visualization file)

•WSG_R.bmp (visualization file)

•WSG_S.bmp (visualization file)

•install.txt (installation notes)

Follow these steps to install the GSD file in Siemens STEP7 11.0:

1 Unzip the package and store the files above to your disk

2 In the Siemens TIA, open the project view.

3 Select “Options -> Install general station description file (GSD) ”

4 Point to the location where you stored the unzipped package

on your disk.

5 You will now find the WSG in the Device Catalog under “Other field

devices -> PROFIBUS-DP -> Drives -> Weiss Robotics GmbH & Co. KG”

2.1

2.1.1

Interface

01.00|WSG |en

Configuration

To be able to use the interface PROFIBUS, it first has to be selected

via the web interface. The station address of the PROFIBUS is pre-

set to 7 but may be changed via the web interface.

Further information is contained in the assemply and operating

manual of the gripper.

PROFINET

PROFINET and PROFIBUS use the same I/O register space layout. The

I/O space is periodically updated and uses a pre-defined profile which

is installed at the PROFINET-controller (e.g. PLC). The profile can be

found on the Product CD or downloaded from the web interface. The

I/O register space is described in detail in (3, Page 8).

Installing the GSDML file

NOTE

The GSDML- file can be installed in Siemens STEP7 v11.0 (TIA) and

newer.

The GSDML file is provided as a ZIP-compressed package that con-

tains the following files:

•GSDML-VX.XX-Weiss Robotics-WSG-XXXXXXXX.gsdml (device

description file)

•GSDML-02A2-0001-WSG.bmp (visualization file)

Follow these steps to install the GSD file in Siemens STEP7 11.0:

1 Unzip the package and store the files above to your disk

2 In the Siemens TIA, open the project view.

3 Select “Options -> Install general station description file (GSD) ”

4 Point to the location where you stored the unzipped package

on your disk.

5 You will now find the WSG in the Device Catalog under “Other

field devices -> PROFINET IO -> I/O -> Weiss Robotics GmbH &

Co. KG”

2.1.2

2.2

2.2.1

Interface

01.00|WSG |en

Configuration

To use the WSG’s PROFINET interface, it must first be enabled via

the device’s web interface. Further configuration options can be

set either directly on the WSG using its web interface to change IP

address or PROFINET device name. However, PROFINET also allows

various configuration options to be set remotely using an engi-

neering tool like e.g. Siemens STEP7. Please refer to the

documentation of your engineering tool.

NOTE

Changing the WSG’s IP address settings remotely using an engi-

neering tool. The device’s web interface might become inaccessi-

ble if the PROFINET connection gets lost.

It is strongly recommended to change these settings only via the

WSG’s web interface.

Further information is contained in the assembly and operating

manual of the gripper.

2.2.2

Description

01.00|WSG |en

Description

The Fieldbus interface of the gripper is implemented as 8-Byte

output and 12-Byte input register files.

Output Registers (PLC to WSG)

The output registers are transferred from the Profibus Master or

Profinet Controller (e.g. PLC) to the WSG. They consist of com-

mand flags, user flags and three parameters and are used to con-

trol the gripper. Due to the register-space-oriented nature of Pro-

fibus and Profinet, only a subset of the WSG’s command set is

available via this interface.

Grouping of Output Registers

Byte Number

Description

CMDFLAGS

Command Flags

A command is issued when changing the corresponding

bit from 0 to 1 (raising edge), (4, Page 14).

Bit Index:

Name

Description

Bit 0:

MOVE

Move the gripper fingers

Bit 1:

GRASP

Grasp a part

Bit 2:

RELEASE

Release a part

Bit 3:

HOMING

Home the gripper

Bit 4:

STOP/ACK

Stop, but do not turn off the motor /

Acknowledge a FAST STOP

Bit 5:

FASTSTOP

Stop and turn off the motor.

must be acknowledged

Bit 6:

JOG+

Jog-Mode in positive direction

Bit 7:

JOG-

Jog-Mode in negative direction

NOTICE! If the FASTSTOP or STOP/ACK bit is set to ‘1’,

the motion commands are disabled.

User Flags (input)

Free programmable flags that can be used in conjunction

with the Script Interpreter.

Bit Index:

Name

Description

IF1

Input User Flag 1

IF2

Input User Flag 2

IF3

Input User Flag 3

IF4

Input User Flag 4

3.1

Description

01.00|WSG |en

Byte Number

Description

IF5

Input User Flag 5

IF6

Input User Flag 6

IF7

Input User Flag 7

IF8

Input User Flag 8

2..3

WIDTH

Command parameter “Width”

New finger opening width in 1/100 millimeters (i.e. a val-

ue of 1220 means 12.20 mm).

Encoded as INT (signed).

4..5

SPEED

Command parameter “Speed”

Current movement speed in 1/100 millimeters per second

(i.e. a value of 3005 means 30.05 mm/s), given as finger

speed relative to each other.

Encoded as WORD (unsigned).

NOTICE! Setting this parameter to a value beyond the

system limits and triggering a motion-related function

using it raises a FAST STOP.

6..7

FORCELIMIT

Command parameter “Force Limit”

New grasping force limit in 1/100 Newton (i.e. a value of

1050 means 10.50 N). The grasping force is twice the no-

minal force that is applied to the part to be grasped.

Encoded as INT (signed), only positive values are allowed.

NOTICE! Setting this parameter to a value beyond the

system limits and triggering a motion-related function

using it raises a FAST STOP.

To initiate a command, the command parameters have to be set up

and the respective command flag has to be changed from 0 to 1 (i.e.

a raising transition). Jog Mode flags are level-sensitive. A detailed de-

scription of the specific commands can be found in (3.2, Page 10).

NOTE

If more than one command flag was changed simultaneously, only the

command with the lowest bit number is executed (i.e. setting both

MOVE and GRASP flags from 0 to 1 will result in a MOVE command).

NOTICE

Changing parameters while fingers are moving (i.e. MOVING in

the system flags is 1) will result in a FAST STOP.

Description

01.00|WSG |en

Input Registers (WSG to PLC)

The input register space is transferred from the WSG to the Profi-

bus Master or Profinet Controller each cycle. It contains the cur-

rent gripper parameters, its operating and grasping state, user de-

fined flags as well as a status code representing the result of the

last command.

grouping Input Register

Byte Number

Description

GSTATE

Grasping State

These flags encode the current grasping state as below

and are intended to control and monitor the grasping

process:

Bite Index:

Name

Description

Bit 0:

IDLE

Waiting for new

command

Bit 1:

GRASPING

Fingers moving to-

wards the part

Bit 2:

NO_PART

No part found

Bit 3:

PART_LOST

Part was grasped

but then lost

Bit 4:

HOLDING

Holding a part

Bit 5:

RELEASING

Fingers moving

away from the part

Bit 6:

POSITIONING

Fingers moving due

to a pre-position

command (MOVE)

Bit 7:

ERROR

An error occured

User Flags (output)

Freely programmable flags that can be used to interact

between the PLC code and a running WSG Script.

Bit Index:

Name

Description

Bit 0:

OF1

Output User Flag 1

Bit 1:

OF2

Output User Flag 2

Bit 2:

OF3

Output User Flag 3

Bit 3:

OF4

Output User Flag 4

Bit 4:

OF5

Output User Flag 5

3.2

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