Zimmer GmbH
•
Am Glockenloch 2
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
+49 7844 9138 80
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www.zimmer-group.com
34
INSTALLATION AND OPERATING IN-
STRUCTIONS:
GEP5000/GED5000 electric gripper series
EN / 05/01/2021
DDOC00211/i
8.7 Starting gripping movement
The product receives the move command by sending the "ControlWord" = 0x0100
or "ControlWord" = 0x0200
.
►
The movement order must be pending for as long as it takes until the desired position is reached.
When the product reaches the corresponding position, this is displayed in the StatusWord as follows:
"Statusbit" 8 or 9 or 10 = TRUE
8.8 Repeated movement 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 the signal on the line from executing a repeated move command in one direction.
To enable movement in the same direction again, the direction flag must be reset.
Sending the
"ControlWord" = 0x04
activates the deletion of the direction flags.
The direction flag is reset when the product answers with
"Statusbit" 13 AND 14 = FALSE
.
A schematic program example for multiple movements in the same direction is shown in the following.
(*Multiple movement in one direction in Structured Text (ST)
The product is not capable of accepting multiple move commands in the same direction.
That is why the direction flag has to be reset in the StatusWord.
In this example, all process parameters are already correctly transferred. The previous move command toward the WorkPo-
sition could not be executed because the product is being blocked by a workpiece. After the workpiece is removed, the
direction flag is reset and the move command is restarted.*)
IF bReset = TRUE THEN
iStep := 10;
END_IF
CASE iStep OF
10:
IF Diagnose = 16#307 THEN (*Move command could not be executed*)
iStep := 20; (*Jump to the error step to reset the
direction flag*)
END_IF
20:
ControlWord := 4; (*Reset the direction flags
("ResetDirectionFlag" bit = TRUE in the ControlWord) *)
iStep := 30; (*Jump to the next step*)
30:
IF NOT StatusWord.13 AND NOT StatusWord.14 THEN (*Queries whether both direction flags ("ControlWord0x100" bit
AND "ControlWord0x200" = FALSE in the ControlWord) *)
ControlWord := 512; (*Moves toward WorkPosition again*)
iStep :=100;
END_IF;
100:
; (*continue with the program*)
END_CASE
