WSG 32

Network-enabled Compact Gripper

The servo-electric parallel gripper WSG 32 offers an integrated control unit ready for Ethernet, combined with compact dimensions and high performance. This is why the WSG 32 is suitable for challenging tasks in robotics and automation. Highly dynamic grasping operations and maximum precision are guaranteed by the brushless electric drive. Speed and grasping force are controlled continuously, which is why the WSG 32 is made for precise handling in every situation.

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SKU: WSG 32-068 Category:
WSG 32 Probenröhrchen

Automatic grip detection

The WSG 32 brings reliability to your handling process

By con­ti­nuous­ly moni­to­ring the fin­ger posi­ti­on and grip­ping force, the WSG 32 auto­ma­ti­cal­ly detects con­tact with the work­pie­ce and ensu­res a safe hand­ling throug­hout the who­le pro­duc­tion pro­cess. This frees the sys­tem con­trols of any grip­ping func­tions – exter­nal posi­tio­n­ing swit­ches are no lon­ger necessa­ry. Her­e­by pro­cess sim­pli­ci­ty is achie­ved with mini­mal effort on integration.

Integrated control unit with Ethernet TCP/IP

Network-enabled control unit

The con­trol unit is com­ple­te­ly inte­gra­ted into the WSG 32, inclu­ding power sta­ge and net­work inter­face. The WSG 32 is con­trol­led using Ether­net TCP/IP or PROFINET (optio­nal) and has an optio­nal CAN-Bus inter­face. With its sepa­ra­te power sup­plies for logic and dri­ve, safe tor­que off (STO) fea­ture can easi­ly imple­men­ted. Thus, in case of an emer­gen­cy shut­down of the machi­ne, the gripper’s con­trol unit will still be online while the motor is gua­ran­teed tor­que-free. Soft­ware, con­fi­gu­ra­ti­ons and custo­mer files are stored on an exch­an­ge­ab­le memo­ry card for easy migration.

WSG 32 Steuerung im Greifer (DSC04783)
WSG 32 schräg hinten

High performance servo drive

Only the best for your handling process

The WSG 32 com­bi­nes light­weight design with long ser­vice life and high pre­ci­si­on. The cen­tre­pie­ce of the WSG 32 grip­per is a brush­less pre­ci­si­on dri­ve with an enor­mous power den­si­ty. The fin­gers are dri­ven by a belt, which gua­ran­tees a syn­chro­nous move­ment of the fin­gers even under harsh con­di­ti­ons. A belt of stain­less steel dra­pes the mecha­ni­cal parts from dust. This redu­ces emis­si­ons of par­ti­cles and sim­pli­fies clea­ning of the WSG 32 – an abso­lu­te must in phar­maceutics and labo­ra­to­ry automation.

Built-in sensor port

Hassle-free connection of sensor fingers

The WSG 32 offers an elec­tro­nic data inter­face to con­nect sen­sor fin­gers without the hass­le of exter­nal cables. The­re are two sen­sor ports loca­ted at the base jaws that are direct­ly con­nec­ted to the WSG 32‘s inter­nal con­trol unit. With this novel inter­face, sen­sor signals can be direct­ly inte­gra­ted into the gras­ping pro­cess. This enab­les you to bring sen­sing intel­li­gence into your grip­ping pro­cess while main­tai­ning inter­fe­ring con­tours at a minimum.

Sensorport
WSG 32 mit Platine (DSC04805)_NEUES_LOGO

Precise force control

Increase gripping precision using force sensing fingers

Several types of fin­gers with or without inte­gra­ted sen­sor tech­no­lo­gy are pro­vi­ded. For examp­le, the high-reso­lu­ti­on tac­tile sen­sor fin­ger WSG-DSA can resol­ve the pres­su­re dis­tri­bu­ti­on on the work­pie­ce. The force sen­sing fin­ger WSG-FMF mea­su­res the true grip­ping force direct­ly at the work­pie­ce. Inte­gra­ted strain gau­ges ensu­re a high sen­sing pre­ci­si­on. Using the gripper’s sen­sor port, the mea­su­red force is direct­ly used as a feed­back signal for the clo­sed-loop force con­trol. The WSG 32 can the­re­fo­re con­trol the effec­tive grip­ping force with high pre­ci­si­on and allows a secu­re and relia­ble hand­ling even with high­ly sen­si­ti­ve parts.

Scripting support

Extend your grippers’s capabilities

Would you like to adjust your grip­per to match your spe­ci­fic app­li­ca­ti­on? Not a pro­blem, sin­ce the WSG 32 con­ta­ins a power­ful script­ing exten­si­on that lets you access a num­ber of inter­nal func­tions. Using the script edi­tor that is inte­gra­ted into the web-based con­fi­gu­ra­ti­on inter­face, you can com­for­ta­b­ly wri­te your own pro­grams and save them onto the WSG 32’s microSD memo­ry card. Spe­cial move­ment pro­files as well as expan­si­ons of the con­trol set or the addi­ti­on of extra sen­sors into the grip­ping pro­cess are all possible.

Scripting
Stroke 68 mm (34 mm per Finger)
Gripping Speed 5 - 400 mm/s
Gripping Force 5 - 50 N
Protection Class IP 40
Temperature Range 5 to 50 °C
Dimensions 118 x 32 x 77.8 mm (L x B x H)
Weight 550 g
Power Supply 24 V ±10%
Power Consumption (typ.) Stand By: 0.6 W, Holding at nominal force: 22 W
Interfaces 10/100 MBit/s Ethernet, Modbus/TCP (optional), CAN-Bus (optional), PROFINET (optional)

Drawings

WSG 32 STEP model  WSG 32 STEP model

3D CAD Step Model of WSG 32

Manuals

Interfacing Universal Robots  Interfacing Universal Robots

Manu­al for inter­fa­cing WSG grip­pers to Uni­ver­sal Robots arms

WSG 32 Manual  WSG 32 Manual

User’s Manu­al for WSG 32

WSG Command Set Reference Manual  WSG Command Set Reference Manual

Descrip­ti­on of the bina­ry com­mand protocol

WSG Fieldbus Interface Manual  WSG Fieldbus Interface Manual

Descrip­ti­on of the fiel­dbus inter­face (PROFINET, Pro­fi­bus, Modbus/TCP)

WSG GCL Reference Manual  WSG GCL Reference Manual

Descrip­ti­on of the text-based GCL com­mand interface

WSG Scripting Reference  WSG Scripting Reference

Descrip­ti­on of the LUA Script­ing Interface

Misc

Software and Documentation Pack  Software and Documentation Pack

This file con­ta­ins all the soft­ware and docu­men­ta­ti­on for the WSG Series in one archive

Product Data Sheets

Product Datasheet WSG Series  Product Datasheet WSG Series

Pro­duct Datas­heet for WSG Series

Programs

WSG GSDML PROFINET File  WSG GSDML PROFINET File

GSDML file for WSG Series

WSG Mitsubishi Example  WSG Mitsubishi Example

Examp­le pro­gram for Mitsu­bi­shi controllers

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