32
11.12 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 StatusBit.6 THEN
// Query for 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 StatusBit.12 THEN
// Query for DataTransferOK bit in the StatusWord
ControlWord
:= 0;
// Reset of the initialization
iStep
:= 30;
// Jump to the next step
END_IF
30:
IF NOT StatusWord.12 THEN
DeviceMode
:= 100;
// Command to select the universal mode
GripForce
:= 4;
// Gripping force setting
ControlWord
:= 1;
// Data transfer to the product
iStep
:= 40;
// Jump to the next step
END_IF
40:
IF StatusWord.12 THEN
// Query for DataTransferOK bit in the StatusWord
ControlWord
:= 0;
// Reset the ControlWord
iStep
:= 50;
// Jump to the next step
END_IF
50:
IF NOT StatusWord.12 THEN
// Query for DataTransferOK bit in the StatusWord
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
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
