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35
INSTALLATION AND OPERATING IN-
STRUCTIONS:
GEP5000/GED5000 electric gripper series
EN / 05/01/2021
DDOC00211/i
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 (*Queries the bit "DataTransferOK"=TRUE from the StatusWord, this is
the
response of the product to transmitted data*)
ControlWord := 0; (*Resets the ControlWord*)
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 there through
"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; (*Resets the ControlWord*)
iStep := 60; (*Jump to the next step*)
END_IF;
60:
IF NOT StatusWord.12 THEN (*Queries the completion of the data transfer, "DataTransferOK" =
FALSE, this process may last several seconds*)
iStep := 0; (*Has storage been completed?*)
END_IF;
END_CASE
