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DDOC00247 / d
EN / 2020-07-20
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
INSTALLATION AND OPERATING INSTRUCTIONS:
Gripper, pneumatically intelligent, GPP/GPD5000-IL series
8.1.2 Process data control system
In general, it is only possible to control the gripper by means of the cyclically exchanged process data.
However, this is possible only if the value 0 is transmitted in the "WorkpieceNo" process data word.
When the gripper is restarted, it is mandatory to write a "1" in the "ControlWord" first. Only then is the gripper active and
able to move.
Step 1:
All other process data must be configured to the desired values. These values are loaded in the gripper as the current data
set using a "1" in the "ControlWord." The workpiece must then be inserted and the bit toward "WorkPosition" (= 512) must
be set using the "ControlWord." This command makes the gripper move toward the "WorkPosition" until it is stopped by the
workpiece or the end position has been reached.
Step 2:
The "Actual position" can now be read from the incoming process data. This value can be written to the "TeachPosition" of
the outgoing process data in order to teach in the current position as the new workpiece position.
At the same time, a "5" should be transferred in the "PositionTolerance" parameter for the standard size of the "Teach posi-
tion" tolerance. If these values have been entered in the process data, a "1" can be written in the "ControlWord" to tell the
gripper again that these values are to be accepted into the currently valid data set.
Step 3:
After the gripper recognizes the data set as the current valid data set, it uses the "StatusWord" (= 512) to provide corre-
sponding feedback on a whether it has gripped the taught-in workpiece.
8.1.3 IODD import
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Importing the IODD (device description) into the control system.
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Go to our website
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Select the desired gripper and download the corresponding .zip file via the "Download IODD" link.
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The ".zip file" is required for importing into the control system.
When the hardware configuration is complete and the IO-Link connection to the gripper is established, some data must be
visible in the process input data.
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Some control systems demand a byte swap to bring this process data into a logical sequence.
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To determine whether a byte swap is necessary, you can view bit 6 (GripperPLCActive) in the "StatusWord".
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For this purpose, it is necessary to determine whether bit 6 is active in the first or second status byte.
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If bit 6 is active in the first byte, the bytes already have the correct sequence and commissioning can be continued.
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If bit 6 is active in the second byte, a byte swap still has to be applied here.
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For further information, refer to the "StatusWord" section.
INFORMATION:
It is mandatory to verify the process data!
The gripper is controlled via IO-Link by means of the cyclical process data as well as the acyclical service data with a cycle
time of 5 ms.
