32
11.8 Quickstart Basic Parameters
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
IF bStart = TRUE THEN
iStep
:= 10;
END_IF
CASE iStep OF
10:
IF StatusWord.6 THEN
// Query for PLCActive bit in the StatusWord
DeviceMode
:= 103;
// Command to select the universal mode
WorkpieceNo
:= 0;
// 0 = current process parameters are being used
PositionTolerance
:= 50;
GripForce
:= 4;
// Gripping force setting
BasePosition
:= 100;
TeachPosition
:= 1200;
WorkPosition
:= 1200;
ControlWord
:= 1;
// Data transfer to the product
iStep
:= 20;
// Jump to the next step
END_IF
20:
IF StatusWord.12 THEN
// Query for DataTransferOK bit in the StatusWord
ControlWord
:= 0;
// Reset of the ControlWord
iStep
:= 30;
// Jump to the next step
END_IF
30:
IF NOT StatusWord.12 THEN
ControlWord
:= 512;
// Handshake is completed,
// Product moves to WorkPosition (0x0200 or 512(decimal) = MoveToWork)
iStep
:= 100;
END_IF
100:
;
// Continue with the program
END_CASE
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:
GEP2000IL-03/GEP2000IL-43
DDOC01219 / c
EN / 2022-10-10
