OnRobot EtherNet/IP
This mode uses the EtherNet/IP industrial network protocol to operate the grippers/sensor.
EtherNet/IP is a fieldbus that uses the standard Ethernet networking (simple UTP cable, standard network
switch can be used, etc.).
The Compute Box implements an EtherNet/IP Scanner (master device) and requires the robot controller
to implement an EtherNet/IP Adapter (slave device) to operate.
With configurable cycle time (e.g.: 8ms) the Computer Box can "read" and "write" to the robot so the
grippers/sensor can be controlled or monitored.
The communication is implemented via EtherNet/IP Assembly Instances that are created for each product
or product combination (e.g.: RG2+VG10). The instances are containing a set of words (16-bit data) that
can be used to control/monitor the grippers/sensor (e.g.: the 4th word of the Assembly Instance 104 is
the Actual Width for the RG2/6).
There are global functions provided (on the USB stick) to make it easy to access the product features.
OnRobot WebLogic
This mode allows simple Digital I/O communication to be used to operate the grippers/sensor.
For example the Compute Box could be easily programmed to:
• when one of the robot digital outputs is set to HIGH, then the RG2 gripper opens to 77mm
• or when the force values measured with the HEX-E QC reach 50N, the Compute Box sends a HIGH
digital output to the robot.
The Compute Box has 8 digital inputs and 8 digital outputs that can be freely configured for any "logic".
In this way the user can configure:
• eight gripper/sensor controlling functionality (e.g.: set width to X, close, zero, set preload, etc.)
• and eight gripper/sensor monitoring functionality (e.g.: is grip detected, is preload > 50N, etc.).
Furthermore, the "logic" can be complex, like:
• is grip detected AND force >20 N
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