16
DDOC00416 / a
EN / 2020-08-19
Zimmer GmbH
●
Im Salmenkopf 5
●
77866 Rheinau, Germany
●
+49 7844 9138 0
●
+49 7844 9138 80
●
www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, HRC-01/-02 series
8.3 Parameter
8.3.1 “ControlWord” parameter
NOTICE:
In the “ControlWord” parameter, only one single bit may be set at a time. Only the values listed in the
following table are valid:
Parameter
Decimal value
Hexadecimal value
Data transfer
1
0 x 1
WritePDU
2
0 x 2
ResetDirectionFlag
4
0 x 4
Teach
128
0 x 80
MoveToBase
256
0 x 100
MoveToWork
512
0 x 200
JogToWork "+"
1024
0 x 400
JogToBase "-"
2048
0 x 800
Name
"ControlWord"
Data format
UINT16
Permission
Write
Transfer
Cyclic
Value range
0 to 65535
“ControlWord” structure:
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Byte
1
-
-
-
-
"JogToBase" "Jog-
ToWork"
"MoveToWork" "MoveToBase"
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte
0
"Teach" -
-
-
-
"ResetDirec-
tionFlag"
"WritePDU"
"Datatransfer"
Bit 0: „Datatransfer“
►
When this bit is set, the gripper accepts the data transferred in the process data.
Bit 1: „WritePDU“
►
Setting this bit communicates to the gripper that it should write the current process data to the
selected tool recipe.
Bit 2: „ResetDirectionFlag“
►
Setting this bit informs the gripper that the direction flag needs to be reset.
►
This makes a repeated movement to a position possible.
►
This is logical during a switchover of workpiece recipes.
Bit 7: „Teach“
►
Setting this bit informs the gripper to save the current position as the “TeachPosition” in the select-
ed “WorkpieceNo.”
INFORMATION:
This only works if there is no “0” that is transmitted in the workpiece number!
Bit 8: „MoveToBase“
►
Setting this bit communicates to the gripper that it should move to the “BasePosition.”
