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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
8.13.2 “Load recipe”
For loading a new recipe, a schematic program example is shown in the following.
//Load workpiece recipes in Structured Text (ST)
10:
WorkpieceNo := 3; //Third workpiece recipe is to be loaded
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 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
//Do other things... //Handshake is completed, the parameters from the third recipe are
now taken over into the current process parameters
END_IF;
