Zimmer GED5000IL Series, Installation And Operating Instructions Manual

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Zimmer GmbH
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www.zimmer-group.com
30
INSTALLATION AND OPERATING IN-
STRUCTIONS:
GEP5000/GED5000 electric gripper series
EN / 05/01/2021
DDOC00211/i
8.4.7 "StatusWord" parameter
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Byte 1 "Error"
"ControlWord"
0x200
"ControlWord"
0x100
"DataTransferOK" "Undefined
-
Position"
"WorkPo-
sition"
"TeachPo-
sition"
"BasePo-
sition"
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte 2 -
"GripperPLC
Active"
- - - - - -
Bit 6: "GripperPLCActive"
• Active as soon as the product has booted up after the cold boot.
• This bit can be used to verify a "byte swap."
Bit 8: "BasePosition"
• Active if the product is set to "BasePosition."
Bit 9: "TeachPosition"
• Active if the product is set to "TeachPosition."
Bit 10: "WorkPosition"
• Active if the product is set to "WorkPosition."
Bit 11: "UndefinedPosition"
• Active if the product is not set to any taught-in position.
Bit 12: "DataTransferOK"
• This bit signals the successful data transfer, which is initiated with the "ControlWord" = 1 (DataTransfer).
• Active once the product has taken over the data using the parameter "ControlWord" = 1 (DEC).
Bit 13: "ControlWord" 0x100
► Active if the last movement order was carried out toward "BasePosition."
Bit 14: "ControlWord" 0x200
►
Active if the last movement order was carried out toward "WorkPosition."
Bit 15: "Error"
• Error in the product.
• Active if the error message can be determined using the "Diagnosis" parameter.
The following steps are required for the "fault acknowledgment":
If the product has a malfunction, the error bit is set in the status word.
This malfunction can be reset by sending

"ControlWord" = 0x8000

.
NOTICE
Not all faults can be reset. There are faults for which the error message is not reset after acknowledgment. The
user must wait until correct values are sent to the product. For example: Overheating fault case.
INFORMATION
It is advisable to use the "StatusWord" to verify correct gripping!
The "TeachPosition" tolerance can be adjusted in another process parameter.
For sensing the correct position via the ACTUAL position, the tolerances and fluctuations of the value must be
observed during programming!