Zimmer HRC-01 Series, Installation And Operating Instructions Manual

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DDOC00416 / a
EN / 2020-08-19
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: 2-jaw parallel gripper, electric, HRC-01/-02 series
Outputs: Process data from the gripper to the IO-Link master!
8.3.12 “StatusWord” parameter
“StatusWord” structure:
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Byte
1
Error
"Control-
Word"
0x200
"Control-
Word"
0x100
"Data-
Transfer-
OK"
"Unde-
finedPosi -
tion"
"WorkPosi-
tion"
"TeachPo-
sition"
"BasePosi-
tion"
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte
0
"Control-
lerError"
"Gripper-
PLCActive"
"JogWork-
Active" "+"
"JogBase-
Active" "-"
"Move-
mentCom-
plete"
"InMotion" "MotorON"
"Homing-
Position"
OK
Bit 0: „HomingPosition“ OK
► The gripper has its reference.
► This bit is mandatory.
► If the reference run is “FALSE,” a “Homing” run must be carried out using the “DeviceMode” = 10
or 14, 16 or 17 (decimal) parameter.
Bit 1: „MotorON“
► This bit is enabled when the motor is switched on by the “DeviceMode” = 3 (decimal) parameter.
► The motor is automatically switched on during a “Homing” run (“DeviceMode” = 10 (decimal)).
Bit 2: „InMotion“
► This bit is active during the run.
Bit 3: „MovementComplete“
► This bit is active after the movement is complete.
Bit 4: „JogBaseActive“ „-“
► Confirmation during the “Jog” run in the direction of “BasePosition.”
Bit 5: „JogWorkActive“ „+“
► Confirmation during the “Jog” run in the direction of “WorkPosition.”
Bit 6: „GripperPLCActive“
► This bit is active as soon as the gripper has booted up after the cold start. This bit can be used to
verify a “byte swap.”
Bit 7: „ControllerError“
► Error in the controller.
Bit 8: „BasePosition“
► This bit is active if the gripper is at “BasePosition.”
Bit 9: „TeachPosition“
► This bit is active if the gripper is at “TeachPosition.”
Bit 10: „WorkPosition“
► This bit is active if the gripper is at “WorkPosition.”
Bit 11: „UndefinedPosition“
► This bit is active if the gripper is neither at “TeachPosition,” nor “WorkPosition” nor “BasePosi-
tion.”