43
11.12 Starting the gripping movement
►
Send ControlWord 0x0200 so that the product moves towards the WorkPosition.
Ö
The gripper jaws move towards the inside.
►
Send ControlWord 0x0100 so that the product moves towards the BasePosition.
Ö
The gripper jaws move towards the outside.
• The motion task must be pending for as long as it takes until the desired position is reached.
•
The current motion task is canceled as a result of a new handshake.
Ö
When the product reaches the corresponding position, this is displayed in the StatusWord as follows:
• The product is at the BasePosition: StatusWord bit 8 = TRUE
• The product is at the TeachPosition: StatusWord bit 9 = TRUE
• The product is at the WorkPosition: StatusWord bit 10 = TRUE
11.13 Repeated movements in the same direction
The StatusWord includes two static flag bits, each of which is set in alternation when the product moves in one direction.
This prevents uncontrolled movements of the product in case of faulty data transmission.
Depending on the location of the positions, it is possible that the product may move multiple times in the same direction.
For this purpose, the direction flags must be reset.
►
Send the ControlWord = 0x0004 to delete the direction flags.
Ö
The direction flags are reset when the product answers with status bit 13 AND 14 = FALSE.
Program example for repeated movements in the same direction:
// Multiple movement in one direction in Structured Text (ST)
// In this example, the motor is switched on,
// The movement profile
// Transfer gripping forces and speeds
// The product is at BasePosition = 1000.
10:
BasePosition
:= 100;
// Assignment of a new BasePosition
ControlWord
:= 1;
// Start handshake (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,
// Response of the product to transferred data
ControlWord
:= 0;
// Reset the ControlWord
iStep
:= 30;
// Jump to the next step
END_IF;
30:
IF StatusWord.12 THEN
// Query for completion of the data transfer,
// DataTransferOK = FALSE
ControlWord
:= 4;
// Reset direction flag
// (DataTransfer bit =TRUE in the ControlWord)
iStep
:= 40;
END_IF
40:
IF NOT StatusWord13 AND NOT
StatusWord14 THEN
// Query whether both direction flags
// (Bit ControlWord 0x0100 AND
// ControlWord 0x0200 = FALSE in ControlWord)
ControlWord
:= 256;
// Moves back toward BasePosition
iStep
:= 50;
END_IF;
50:
...
INSTALLATION AND OPERATING INSTRUCTIONS:
LWR50L-21/LWR50L-22
DDOC01071 / b
EN / 2021-11-25
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
