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
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Inputs: Process data from the IO-Link master to the GEP/GED5000IL
7.5.7. "StatusWord" parameter
Structure of the status word
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Byte 1
Error
ControlWord
0x200
ControlWord
0x100
Data transfer
ok
undefinedPosition
WorkPosition
TeachPosition
BasePosition
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 0
-
GripperPLC
Active
-
-
-
-
-
-
INFORMATION:
For checking the correct gripping of the workpiece, the use of the "StatusWord" is
recommended.
The "TeachPosition" tolerance can be adjusted in another process parameter.
If the actual position is used to sense the correct position, the tolerances and fluctuations of the value must be
observed during programming!
Details
Name
StatusWord
Data type
UINT 16
Permission
Write
Transmission
Cyclical
Value range
0–65535
Bit 6:
This bit is active as soon as the gripper has booted up after the cold start. This bit can be used to
verify a byte swap.
Bit 8:
Active if the gripper is set to "BasePosition"
Bit 9:
Active if the gripper is set to "TeachPosition"
Bit 10:
Active if the gripper is set to "WorkPosition"
Bit 11:
Active if the gripper is not set to any Teach Position
Bit 12:
This bit is used for data transmission with the handshake.
This bit is active as soon as data has been taken over by the gripper by the parameter "ControlWord"=1 (DEZ)
Bit 13: This bit is a direction flag and is active when the last movement order was in the "BasePosition" direction
Bit 14: This bit is a direction flag and is active when the last movement order was in the "WorkPosition" direction
Bit 15: Error in the gripper. If this bit is active, the error message can be defined using the "Diagnostics" parameter.
7.5.8 "Diagnosis" parameter
The value returned in the "Diagnostics" parameter corresponds to the "Diagnostics code."
► refer to the "Error diagnostics" section
Details:
Name:
Diagnostics
Data format:
UINT16
Permission:
Read
Transmission:
Cyclical
Value range:
0 to 65535
