32
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
8.11 Starting gripping movement
By sending the
"ControlWord" = 0x200
the gripper moves towards the "WorkPosition," which means that
the gripper jaws are moving inward.
By sending the
"ControlWord" = 0x100
the gripper moves towards the "BasePosition," which means that
the gripper jaws are moving outward.
►
The movement order must be pending for as long as it takes until the desired position is reached.
►
The current movement order is canceled as a result of a new "Handshake."
If the gripper has reached the corresponding position, this is reported back in the "StatusWord" as follows:
• The gripper is at "BasePosition"
"StatusWord" bit 8 = TRUE
• The gripper is at "TeachPosition"
"StatusWord" bit 9 = TRUE
• The gripper is at "WorkPosition"
"StatusWord" bit 10 = TRUE
8.12 Repeated movements in the same direction
The “StatusWord” includes two static “flag bits,” each of which is set in alternation when the gripper moves in one
direction. This prevents unwanted movements of the gripper in case of faulty data transmission.
Depending on the location of the positions, it is possible that the gripper may move multiple times in the same
direction. For this purpose, the direction flags must be reset.
Sending the
"ControlWord" = 0x04
activates the deletion of the direction flags.
The direction flag is reset when the gripper answers with
"Statusbit" 13 AND 14 = FALSE
.
For multiple movements in the same direction, a schematic program example is shown in the following.
//Multiple movement in one direction in Structured Text (ST)
// In this example, the motor is switched on,
// the movement profile
// gripping forces and speeds are transmitted
// The gripper is at BasePosition = 1000.
10:
BasePosition := 100; //Allocation of a new BasePosition
ControlWord := 1; //Handshake is started (“DataTransfer” bit
=TRUE
in
the
ControlWord)
iStep := 20; //Jump to the next step
20:
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 := 30; //Jump to the next step
END_IF;
30:
IF NOT StatusWord.12 THEN //Queries the completion of the data transmission,
“DataTransferOK”=
FALSE
ControlWord :=4; //Reset the direction flags
(“ResetDirectionFlag”
bit
=
TRUE
in
the
Control-
Word)
iStep := 40;
END_IF
40:
IF NOT StatusWord.13 AND NOT StatusWord.14 THEN //Queries whether both direction flags
(“ControlWord0x100”
AND
“ControlWord0x200”
bit
=FALSE
in
the
ControlWord)
ControlWord := 256; //Moves back towards BasePosition
iStep := 50;
END_IF;
50:
...
