DDOC00247
enu / 2018-09-14 / Index a
INSTALLATION AND OPERATING INSTRUCTIONS:
Pneumatic gripper, intelligent GPP/GPD5000IL series
Zimmer GmbH
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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
7.2
Control
The gripper is controlled via IO-Link by means of the cyclical process data, with a minimum cycle time of 5 ms. During a communi-
cation cycle the IO-Link master sends 8 bytes to the gripper and receives 6 bytes of process data.
IO-Link master
Fieldbus or PLC
7
The gripper is controlled via IO-Link by means of the cyclical process data and the acyclical service data, with a cycle time of 5 ms.
During a communication cycle the IO-Link master sends 8 bytes to the gripper and receives 6 bytes of process data.
If the gripper is operational, a "1" must be sent in the "ControlWord" during a cold start for safety reasons. This "1" tells the gripper to
accept the current values that have been transmitted in the process data.
The gripper is now ready for operation. The gripper then moves to the proper position after receiving the corresponding command
in the "ControlWord" (decimal 256 or 512).
The gripper features bidirectional behavior. This means that the gripper cannot position itself on intermediate values. Each move-
ment command is executed to the maximum possible position.
When the hardware configuration is complete and the IO-Link connection to the gripper is established,
some data must already be visible in the process input data.
Some control systems demand a byte swap to bring this process data into a sequence that makes sense.
► To determine whether a byte swap is necessary, you can check Bit 6 [GripperPLCActive] in the "StatusWord".
► For this purpose, it is necessary to determine whether bit 6 [GripperPLCActive] is active in the first or second status byte.
This bit must be the only one active in this byte.
If bit 6 in the first byte is active, a byte swap still has to be applied here.
If bit 6 in the second byte is active, the bytes already have the correct sequence and you can continue with the rest of
the commissioning.
INFORMATION:
For more information, refer to the "StatusWord" section
INFORMATION:
It is mandatory to carry out a verification of the process data
► Importing the IODD (device description) into the control system
Go the website
https://ioddfinder.io-link.com
Search for "Zimmer Group" in the search window that appears
Select the desired device and download the corresponding *.zip files
The complete content of the zip files is required for importing within the control
INFORMATION:
The IODD file can also be downloaded from
the product datasheet on our website.
Picture shown as example
