42
13.1 Selecting and changing workpiece recipes
The workpiece recipes taught in SCM are selected from the robot control system using the SCM inputs 9 to 12.
►
Create a binary number from these four SCM inputs.
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This is the selected workpiece recipe number: Input 9 stands for 2
0
and input 12 stands for 2
3
.
Input 9
Input 10
Input 11
Input 12
Workpiece recipe number
TRUE
FALSE
FALSE
TRUE
9
TRUE
TRUE
FALSE
FALSE
3
►
Do not execute any other commands.
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The gripper may not display any errors.
Ö
The successful implementation of the new workpiece recipe is displayed in SCM: SCM outputs 9 to 12 accept the same
logical status as the SCM inputs 9 to 12.
Workpiece recipe number 3 sequence example:
• Set Cmd_WP_Bit0 = TRUE
• Set Cmd_WP_Bit1 = TRUE
• Wait (Act_WP_Bit0 == TRUE & Act_WP_Bit1 == TRUE)
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Then you can re-open or re-close the gripper.
13.2 Assignment of input and output signals after a cold start
The SCM only accepts commands from one source. The grippers can either be controlled by the HMI software or via the
superordinate Robot control system.
After a cold start, the SCM starts without HMI software, first with the primacy of the input and output signals with the last
saved configuration.
Therefore, the HMI software can be closed after a successful configuration and the Windows PC can be disconnected via
the network cable. The SCM and the connected grippers are now only operational with the robot control system and retain
this configuration even after a cold start.
INSTALLATION AND OPERATING INSTRUCTIONS:
SCM
DDOC00734 / c
EN / 2022-05-09
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
