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11.13 Quickstart Basic Parameters
INFORMATION
The following example code applies to the products GEH6000IL-03-B and GED6000IL-03-B
For products without a self-locking mechanism (GEH6000IL-31-B, GED6000IL-31-B), mode 82 must be used for
operation.
In the following example, you see the first initialization of the product, the activation of the motor and the transmission of the
process parameters.
// Initialization of the product
// Motor switch-on
// Initial move command
// = EasyStartUp Example
CASE iStep OF
0:
IF StatusBit.6 and Diag != 0x100 THEN
// Query for PLCActive bit in the StatusWord
ControlWord
:= 1;
// Data transfer to the product
DeviceMode
:= 3;
// Command to switch on the motor
WorkpieceNo
:= 0;
// 0 = current process parameters are being used
PositionTolerance
:= 50;
GripForce
:= 50;
DriveVelocity
:= 50;
BasePosition
:= 100;
ShiftPosition
:= 2000;
TeachPosition
:= 3800;
WorkPosition
:= 4000;
iStep
:= 10;
// Jump to the next step
END_IF
10:
IF StatusBit.12 AND StatusBit.1 THEN
// Query for DataTransferOK bit AND MotorON in the StatusWord
ControlWord
:= 0;
// Reset of the initialization
iStep
:= 20;
// Jump to the next step
END_IF
20:
IF NOT StatusWord.12 THEN
// Query for completion of the data transfer,
// DataTransferOK = FALSE
DeviceMode
:= 85;
// Loading a DeviceMode
ControlWord
:= 1;
// Begins with the handshake
iStep
:= 30;
// Jump to the next step
END_IF
30:
IF StatusWord.12 THEN
// Queries the bit DataTransferOK=TRUE from StatusWord,
// Response of the product to transferred data
ControlWord
:= 0;
// Reset of the ControlWord
iStep
:= 40;
// Jump to the next step
END_IF
40:
IF NOT StatusWord.12 THEN
// Query for completion of the data transfer,
// DataTransferOK = FALSE
ControlWord
:= 512;
// Handshake is completed,
// Product moves to WorkPosition (0x0200 or 512(decimal) = MoveToWork)
iStep
:= 50;
// Jump to the next step
END_IF
50:
IF NOT StatusWord.10 THEN
// Query for reaching the WorkPosition
ControlWord
:= 256;
// Set move command toward BasePosition
iStep
:= 60;
END_IF;
END_CASE
INSTALLATION AND OPERATING INSTRUCTIONS:
GEH6000IL/GED6000IL
DDOC00212 / p
EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
