Operation
68
04.00 | WSG 50 | Assembly and operating manual | en | 389474
7.19 Implementing the gripping process
In the following section, the steps are described which are needed
for a simple handling cycle (preposition - grip - release). The
specified commands relate to the command interface. You will find
a detailed description of the commands and parameters in the
"WSG Command Set Reference Manual".
Preparatory work:
Ø Adjust the “Clamping Travel“ and “Part Width Tolerance“ to
the application.
Description: Gripping, detecting parts to be gripped and
monitoring the gripping [
}
54]
Ø Perform a test grip.
You can do this for example via the web interface, menu option
Motion -> Grasping
Executing the gripping cycle:
Ø Check whether the gripper has been zeroed (optional)
If not, run the command "Homing (20h)" and wait until
SF_REFERENCED is set in the status word. Request the status
word with the command "Get System State (40h)". Error? then
error handling.
Ø Pre-position finger
Execute the command "Pre-Position Fingers (21h)". Parameters:
Opening width and speed. The gripper state changes to
"POSITIONING". Wait until the gripper state is "IDLE". Request
the gripper state with the command "Get Gripping State (41h)".
Ø Execute the grip
Command "Grasp Part (25h)". Parameters: Nominal gripping
width, gripping speed, gripping force. The gripper state changes
to "GRIPPING". Wait until the gripper state is "HOLDING". Deal
with errors if gripper state is "NO PART FOUND" or "ERROR".
Ø Handling the part
Periodically request the gripper state and check whether it is
still "HOLDING". Deal with errors for "PART LOST" or "ERROR".
The periodical requests will not be required if spontaneous
messages (see "WSG Command Set Reference Manual") have
been activated.
Ø Releasing the part
Command "Release Part (26h)". Parameters: Opening width,
speed. The gripper state changes to "RELEASING". Wait until the
gripper state is "IDLE". Deal with errors on "ERROR".
Ø Start again at 2.
To Next Page
Loading...
