INSTALLATION AND OPERATING INSTRUCTIONS:
Gripper, electric, GEP5000/GED5000 series
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DDOC0021
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EN / 2020-08-15
Zimmer GmbH
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Im Salmenkopf 5
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77866 Rheinau, Germany
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+49 7844 9138 0
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+49 7844 9138 80
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www.zimmer-group.com
8.9 Recipe examples "Load recipe"
For loading a new recipe, a schematic program example is shown in the following.
(*Load workpiece recipes in Structured Text (ST)*)
IF bLoad = TRUE THEN
iStep := 10;
END_IF
CASE iStep OF
10:
WorkpieceNo := 3; (*Third workpiece recipe is to be loaded*)
iStep := 20; (*Jump to the next step*)
20:
ControlWord := 1; (*Begins with the handshake*)
iStep := 30; (*Jump to the next step*)
30:
IF StatusWord.12 THEN (*Query of the “DataTransferOK” =TRUE bit from StatusWord, this is
the response of the gripper to transferred data*)
ControlWord := 0; (*ControlWord reset*)
iStep := 40; (*Jump to the next step*)
END_IF;
40:
IF NOT StatusWord.12 THEN (*Queries the completion of the data transfer, “DataTransferOK”=
FALSE*)
iStep := 0; (*Handshake is completed, the parameters from the third recipe are
now taken over in the current process parameters*)
END_IF;
END_CASE;
