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36
INSTALLATION AND OPERATING IN-
STRUCTIONS:
GEP5000/GED5000 electric gripper series
EN / 05/01/2021
DDOC00211/i
8.9
Recipe examples "Load recipe"
A schematic program example for loading a new recipe is shown in the following.
(*Load workpiece recipes in Structured Text (ST)*)
IF bLoad = TRUE THEN
iStep := 10;
END_IF
CASE iStep OF
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 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*)
iStep := 0; (*Handshake is completed, the parameters from the third
recipe are now taken over in the current process parameters*)
END_IF;
END_CASE
