29
Zimmer GmbH
•
Im Salmenkopf 5
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
+49 7844 9138 80
•
www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, GEP2000IL-03 series
EN / 2021-03-04
DDOC01219 / 0
8.6.1 "Easy Startup"
In the following example code, you see the first-time initialization of the gripper and the transfer of the process parameters.
(*Initialization of the gripper, first-time move command = EasyStartUp Example*)
IF bStart = TRUE THEN
iStep := 10;
END_IF
CASE iStep OF
10:
IF StatusWord.6 THEN (*Queries the “PLCActive" bit in the StatusWord*)
ControlWord := 1; (*Sends the “DataTransfer" bit in the ControlWord for initialization*)
iStep
:=
20; (*Jump
to
the
next
step*)
END_IF
20:
IF StatusWord.12 THEN (*Queries the "DataTransferOK" bit in the StatusWord*)
ControlWord
:=
0; (*Reset
the
initialization*)
iStep
:=
30; (*Jump
to
the
next
step*)
END_IF
30:
IF.NOT StatusWord.12 THEN
DeviceMode := 103; (*Command to select the universal mode*)
WorkpieceNo. := 0; // 0 means that the current process parameters are being used
PositionTolerance := 50;
GripForce := 25; (*Setting the stroke gripping force*)
BasePosition := 100;
TeachPosition := 1500;
WorkPosition := 2000;
ControlWord := 1; (*Data transfer to the gripper*)
iStep
:=
40; (*Jump
to
the
next
step*)
END_IF
40:
IF StatusWord.12 THEN (*Queries the "DataTransferOK" bit in the StatusWord *)
ControlWord
:=
0; (*ControlWord
reset*)
iStep := 50; (*Jump to the next step*)
END_IF
50:
IF.NOT StatusWord.12 THEN
ControlWord := 512; (*Handshake is completed, gripper now moves to WorkPosition (0x200 or
512(decimal)
=
MoveToWork)*)
iStep := 100;
END_IF
100:
; (*continue with the program*)
END_CASE
