DDOC00247
enu / 2018-09-14 / Index a
INSTALLATION AND OPERATING INSTRUCTIONS:
Pneumatic gripper, intelligent GPP/GPD5000IL series
Zimmer GmbH
●
Im Salmenkopf 5
●
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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7.5.1 Procedure for data transfer
"FAULT ACKNOWLEDGMENT" procedure
If the gripper has a fault, the error bit is set in the status word.
This fault can be reset by sending the
ControlWord = 0x8000
.
"HANDSHAKE" procedure
The data transmission starts with the transmission of the
ControlWord = 0x00
to the gripper.
Subsequently, the response of the gripper must be tested using the
Status bit 12 = False
.
Data transmission is done by changing the corresponding process data and sending the "acquire" command by the
ControlWord = 0x01
The gripper acknowledges this with
Status bit 12 = True
.
The data transfer is completed with the
ControlWord = 0x00
and the corresponding response from the gripper by
the
Status bit 12 = False
All data that is transmitted to the gripper and is described in subsequent sections must be transmitted using the "handshake"
procedure.
INFORMATION:
This procedure is called "handshake" because it enables a "clean" transmission.
Data transmission takes place from "hand to hand" (between the control system and gripper).
NOTE:
Not all faults can be reset. There are faults for which the error message is not reset after acknowledgment. The
user must wait until the gripper resets the fault by itself.
For example: Overtemperature fault case.
In general, the gripper can be controlled only by the cyclically exchanged process data.
However, this is possible only if a "0" is transmitted in the "WorkPosition" process data word.
Since very different gripper jaws exist for the gripper series, the required travel path can be determined directly with the gripper or
specially calculated by hand.
The process is as follows (gripping from the outside to the inside):
Step 1:
Insert the workpiece and set the "MoveToWork" bit (ControlWord = 512/0x200) by means of the "ControlWord" parameter.
This command makes the gripper move toward "WorkPosition" until it touches the workpiece.
Step 2:
If the gripper has been successfully stopped by the workpiece, then the corresponding travel path for this workpiece can be read
off using the actual position.
Step 3:
The travel path can be transferred to the gripper using the "TeachPosition." This allows the gripper to transmit feedback
about whether it has gripped the correct workpiece to the control system using the "Teach" bit in the "StatusWord"
(StatusWord = 512/0x0200). It may be necessary to adjust the position tolerance.
Step 4
To use this method, a "0" must be transmitted to the gripper in the WorkpieceNo." parameter.
Steps 1 and 2 can be repeated for as many workpieces as desired, and this allows different workpieces to be gripped securely
using the gripper.
The "StatusWord" parameter always tells the controller whether the gripper has gripped the workpiece.
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.5
Control with cyclical process data.
INFORMATION:
The status of the gripper should be used to check whether a workpiece has been gripped correctly.
The position measurement resolution is 0.01 mm.
The position measurement accuracy is 0.01 mm.
If the "ActualPosition" parameter is used for detecting the workpiece, then fluctuations around the exact value
must be taken into consideration during start-up.
