19
11.4 Parameters
11.4.1 ControlWord
NOTICE
In the ControlWord parameter, only one single bit or the value 0 may be set at a time. Only the values listed in the
following table are valid.
Parameter
Decimal value
Hexadecimal value
DataTransfer
1
0x0001
WritePDU
2
0x0002
ResetDirectionFlag
4
0x0004
Teach
8
0x0080
MoveToBase
256
0x0100
MoveToWork
512
0x0200
Jog
1024
0x0400
JogToBase -
2048
0x0800
ErrorReset
32768
0x8000
Name
ControlWord
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
0 ... 65535
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Byte 1
ErrorReset -
-
-
JogToBase JogToWork MoveToWork MoveToBase
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 2
-
-
-
-
Teach
ResetDirec-
tionFlag
WritePDU
DataTransfer
Bit 0: DataTransfer
Setting this bit causes the product to acquire the data transmitted in the process data ("WorkpieceNo" = 0) or the data
stored in the workpiece data ("WorkpieceNo" = 1 to 32) as the active data set.
Setting this bit tells the product that the direction flag needs to be reset. This function is available starting from Application
Firmware Version SWA000170_A00, see Chapter "Table of acyclic data (ISDU)" Index 0x0017.
Bit 1: WritePDU
Setting this bit tells the product that it should write the current process data to the selected workpiece recipe.
INSTALLATION AND OPERATING INSTRUCTIONS:
GEP2000IL-03/GEP2000IL-43
DDOC01219 / c
EN / 2022-10-10
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
