Zimmer GmbH
•
Im Salmenkopf 5
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
+49 7844 9138 80
•
www.zimmer-group.com
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INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, GEP2000IL-03 series
EN / 2021-03-04
DDOC01219 / 0
8.7 Starting gripping movement
The gripper receives the move command by sending the "ControlWord" = 0x0100
or "ControlWord" = 0x0200
.
The movement order must be pending for as long as it takes until the desired position is reached.
When the gripper reaches the corresponding position, this is displayed in the StatusWord as follows:
"Statusbit" 8 or 9 or 10 = TRUE
8.8 Repeated movement in the same direction
The "StatusWord" includes two static "flag bits," each of which is set in alternation when the gripper moves in one direction.
This prevents the signal on the line from executing a repeated move command in one direction.
Depending on the location of the positions, it is possible to move the gripper multiple times in the same direction. For this
purpose, the direction flags must be reset.
Sending the
"ControlWord" = 0x04
activates the deletion of the direction flags.
The direction flag is reset when the gripper answers with
"Statusbit" 13 AND 14 = FALSE
.
A schematic program example for multiple movements in the same direction is shown in the following.
(*Multiple movement in one direction in Structured Text (ST)
The gripper is not capable of accepting multiple move commands in the same direction.
That is why the direction flag has to be reset in the StatusWord.
In this example, all process parameters are already correctly transferred. The previous move command towards the WorkPo-
sition could not be executed because the gripper is being blocked by a workpiece. After the workpiece is removed, the
direction flag is reset and the move command is restarted.*)
IF bReset = TRUE THEN
iStep := 10;
END_IF
CASE iStep OF
10:
IF Diagnose = 16#307 THEN (*Move command could not be executed*)
iStep
:=
20; (*Jump
to
the
error
step
to
reset
the
direction flag*)
END_IF
20:
ControlWord := 4; (*Reset the direction flags
("ResetDirectionFlag"
bit
=
TRUE
in
the
ControlWord)
*)
iStep
:=
30; (*Jump
to
the
next
step*)
30:
IF NOT StatusWord.13 AND NOT StatusWord.14 THEN (*Queries whether both direction flags ("ControlWord0x100" bit
AND
"ControlWord0x200"
=
FALSE
in
the
ControlWord) *)
ControlWord
:=
512; (*Moves
toward
WorkPosition
again*)
iStep
:=100;
END_IF;
100:
; (*continue with the program*)
END_CASE
