INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, HRC-01/-02 series
33
DDOC00416 / a
EN / 2020-08-19
Zimmer GmbH
●
Im Salmenkopf 5
●
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
8.13 Recipe examples
The following example code shows how process parameters can be stored in the internal workpiece recipe.
8.13.1 “Store recipe”
For storing a recipe, a schematic program example is shown in the following.
//Store tool workpiece recipes in Structured Text (ST)
10:
DeviceMode := 82; //Allocation of the desired process parameters
WorkpieceNo := 3; //Recipe is to be stored as the third workpiece recipe
PositionTolerance := 50;
GripForce := 50;
DriveVelocity := 50;
BasePosition := 100;
ShiftPosition := 2000;
TeachPosition := 4000;
WorkPosition := 4000;
iStep := 20; //Jump to the next step
20:
ControlWord := 1; //Begins with the Handshake
iStep := 30; //Jump to the next step.
30:
IF StatusWord.12 THEN //Queries the bit “DataTransferOK”=TRUE from the StatusWord, this is the
response
of
the
gripper
to
transmitted
data
ControlWord := 0; //ControlWord reset
iStep := 40; //Jump to the next step
END_IF;
40:
IF NOT StatusWord.12 THEN //Queries the completion of the data transmission, “DataTransferOK”=
FALSE
ControlWord := 2; //Handshake is completed, storage through
“WritePDU”
bit
in
the
ControlWord
starts
here
iStep := 50; //Jump to the next step
END_IF;
50:
IF StatusWord.12 THEN //Queries the bit “DataTransferOK”=TRUE from StatusWord
ControlWord := 0; //ControlWord reset
iStep := 60; //Jump to the next step
END_IF;
60:
IF NOT StatusWord.12 THEN //Queries the completion of the data transmission, “DataTransferOK”=
FALSE,
this
procedure
can
take
several
seconds
//Do other things... //Storage is completed
END_IF;
