DDOC00247
enu / 2018-09-14 / Index a
INSTALLATION AND OPERATING INSTRUCTIONS:
Pneumatic gripper, intelligent GPP/GPD5000IL series
Zimmer GmbH
●
Im Salmenkopf 5
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77866 Rheinau, Germany
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Phone: +49 7844 9138-0
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Fax: +49 7844 9138-80
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www.zimmer-group.de
10
Outputs: Process data from the IO-Link master to the GEP/GED5000IL
Bit 0:
"Datatransfer":
Setting this bit causes the gripper to take over the data transmitted in the process data ("WorkpieceNo." = 0) or the data
stored in the workpiece data records ("WorkpieceNo." = 1 to 31) as the active data set.
Bit 1:
"WritePDU":
Setting this bit tells the gripper that it should write the current process data to the selected
workpiece recipe.
Bit 2:
"ResetDirectionFlag":
Setting this bit tells the gripper that the direction flag needs to be reset. This makes it possible to repeatedly move to a
position. This is useful when switching workpiece recipes.
Bit 3:
"Teach"
Setting this bit tells the gripper to save the current position as the "TeachPosition" in the selected "WorkpieceNo."
7.5.2 "ControlWord" parameter
Structure of the control word
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Byte 1
Error
Reset
-
-
-
-
-
"MoveToWork"
"MoveToBase"
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 0
Adjust
-
-
-
Teach
ResetDirectionFlag-
WritePDU
Data transfer
INFORMATION:
This only works if no "0" is transmitted in the workpiece No.!
INFORMATION:
For more information on the different data sets of the "Adjust" parameter, refer to the "End positions" section.
Bit 8
: "MoveToBase"
Setting this bit tells the gripper that it should move to the "BasePosition."
Bit 9:
"MoveToWork"
Setting this bit tells the gripper that it should move to the "WorkPosition."
Bit 15:
This bit can be used to acknowledge all errors that can be reset and thus reset them.
You can find out whether an error is present from the error list.
Bit 7:
"Adjust":
If no other bit is set in the control word, the "adjust" bit can be used to readjust the end position of the fingers. The "adjust"
bit has to be set briefly. Afterwards, the gripper runs through an automated routine, which runs through a gripping cycle in
order to learn the end positions.
Decimal value
Hexadecimal value
Data transfer
1
0x1
WritePDU
2
0x2
Teach
8
0x8
Adjust
128
0x80
MoveToWork
256
0x100
MoveToBase
512
0x200
Error Reset
32,768
0x8000
Note:
In the "ControlWord" parameter, only one single bit may be set at a time.
Only the values listed in the following table are valid.
