INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, HRC-01/-02 series
31
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
8.10 “Quickstart” basic parameters
In the following example code, you see the first initialization of the gripper, the activation of the motor and the
transmission of the process parameters.
//Initialization of the gripper,
//Motor switch-on,
//Initial move command
// = EasyStartUp Example
5:
IF StatusBit.6 THEN //Queries “PLCActive” bit in the StatusWord
ControlWord := 1; //Send bit 5 “DataTransfer” in the ControlWord for initialization
iStep:= 10; //Jump to next step
END_IF
10:
IF StatusBit.12 THEN //Queries “DataTransferOK” bit in the StatusWord
ControlWord :=0; //Reset the initialization
iStep:= 20; //Jump to next step
END_IF
20:
DeviceMode := 3; //Command to power on the motor
ControlWord :=1; //Data transmission to the gripper
iStep := 30; //Jump to the next step
30:
If StatusBit.1 THEN //Queries “MotorON” bit in the StatusWord
iStep := 40; //Jump to the next step
END_IF
40:
DeviceMode := 82; //Loading a DeviceMode
WorkpieceNo := 0; // 0 means that the current process parameters are being used
PositionTolerance := 50;
GripForce := 50;
DriveVelocity := 50;
BasePosition := 100;
ShiftPosition := 2000;
TeachPosition := 4000;
WorkPosition := 4000;
iStep := 50; //Jump to the next step
50:
ControlWord := 1; //Begins with the Handshake
iStep := 60; //Jump to the next step.
60:
IF StatusWord.12 THEN //Queries the bit “DataTransferOK”=TRUE from StatusWord, this is the
response
of
the
gripper
to
transmitted
data
ControlWord
:=
0 //ControlWord
reset
iStep := 70; //Jump to the next step
END_IF;
70:
IF NOT StatusWord.12 THEN //Queries the completion of the data transmission, “DataTransferOK”=
FALSE
ControlWord:= 512; //Handshake is completed, gripper now moves to WorkPosition (0x200
or
512(dec)
=
MoveToWork)
iStep:= 80;
END_IF;
80:
...
