29
11.8.7 StatusWord
StatusWord structure:
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Byte 1
Error
ControlWord
0x0200
ControlWord
0x0100
DataTransferOK
Undefined
-
Position
WorkPo-
sition
TeachPo-
sition
BasePo-
sition
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 2
-
Gripper-
PLCActive
-
-
-
-
-
-
Bit 6: GripperPLCActive
Active as soon as the product has booted up after the cold boot.This bit can be used to verify a “byte swap."
Bit 8: BasePosition
Active if the product is set to BasePosition.
Bit 9: TeachPosition
Active if the product is set to TeachPosition.
Bit 10: WorkPosition
Active if the product is set to WorkPosition.
Bit 11: UndefinedPosition
Active if the product is not set to TeachPosition, WorkPosition or BasePosition.
Bit 12: DataTransferOK
This bit is used for data transmission using the handshake. Active as soon as the product has taken over the data using the
parameter ControlWord = 1 (decimal).
Bit 13: ControlWord 0x0100
This bit is a direction flag. Active if the last motion task was carried out toward BasePosition.
Bit 14: ControlWord 0x0200
This bit is a direction flag. Active if the last motion task was carried out toward WorkPosition.
Bit 15: Error
Active if the product has an active error. The error message can be determined using Diagnosis.
Name
StatusWord
Data format
UINT16
Permission
Read
Transfer
Cyclical
Value range
0 ... 65535
INSTALLATION AND OPERATING INSTRUCTIONS:
GEP2000
DDOC01113 / b
EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
