INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw angular grippers, electric/pneumatic, HRC-05 series
25
DDOC00270 / f
EN / 2020-03-31
Zimmer GmbH
●
Im Salmenkopf 5
●
77866 Rheinau, Germany
●
+49 7844 9138 0
●
+49 7844 9138 80
●
www.zimmer-group.com
8.8.1 "Save recipe"
A schematic program example for saving a new recipe is shown in the following
(*Store tool workpiece recipes in Structured Text (ST)*)
IF bSave = TRUE THEN
iStep := 10;
END_IF
CASE iStep OF
10:
DeviceMode := 100; (*Assignment of the desired process parameters*)
WorkpieceNo := 3; (*Recipe is to be stored as the third workpiece recipe*)
PositionTolerance := 50;
GripForce := 3;
TeachPosition := 500;
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 (*Query of the “DataTransferOK”=TRUE bit from StatusWord, this is
the
response
of
the
gripper
to
transferred
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 transfer, “DataTransferOK” =
FALSE*)
ControlWord := 2; (*Handshake is completed, storage starts here via the
“WritePDU”
bit
in
the
ControlWord*)
iStep := 50; (*Jump to the next step*)
END_IF;
50:
IF StatusWord.12 THEN (*Queries the “DataTransferOK”=TRUE bit from StatusWord*)
ControlWord := 0; (*ControlWord reset*)
iStep := 60; (*Jump to the next step*)
END_IF;
60:
IF NOT StatusWord.12 THEN (*Queries the ending of the data transmission, “DataTransferOK”=
FALSE,
this
process
may
take
several
seconds*)
iStep := 0; (*Is storage complete?*)
END_IF;
END_CASE
