INSTALLATION AND OPERATING INSTRUCTIONS:
Gripper, pneumatically intelligent, GPP/GPD5000-IL series
21
Zimmer GmbH
●
Im Salmenkopf 5
●
77866 Rheinau, Germany
●
+49 7844 9138 0
●
+49 7844 9138 80
●
www.zimmer-group.com
DDOC00247 / d
EN / 2020-07-20
8.2 "Handshake" data transfer method
All process data that is transferred to the gripper and is described in the sections that follow must be transferred using the
"handshake" method.
INFORMATION:
This method is referred to as a "handshake" because it enables "clean" transfer.
The process data transfer takes place, so to speak, from "hand to hand" - from the control system to the gripper.
The following steps are required for the "handshake":
The data transfer starts with the transfer of
"ControlWord" = 0x01
to the gripper.
Subsequently, the response of the gripper must be tested by means of
"Statusbit" 12 = TRUE
(data transfer OK).
Following this, the "ControlWord" = 0
can be sent, which ends the data transfer.
The operator automatically concludes the data transfer with the
"ControlWord" = 0x00
and the corresponding res-
ponse from the gripper via the
"Statusbit" 12 = FALSE
.
INFORMATION:
The status of the gripper should be used to verify whether a workpiece has been gripped correctly.
Ö
The position measurement resolution is: 0.01 mm
Ö
The position measurement accuracy is: 0.1 mm
If the "ActualPosition" parameter is used for detecting the workpiece, then fluctuations around the exact value
must be taken into consideration during commissioning!
The following steps are required for the "fault acknowledgment":
If the gripper has a malfunction, the error bit is set in the status word.
This malfunction can be reset by sending
"ControlWord" = 0x8000
.
NOTICE:
There are currently no resettable errors present!
Errors disappear when the cause of the error is remedied.
For example: Overheating fault case.
