31
Zimmer GmbH
•
Im Salmenkopf 5
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
+49 7844 9138 80
•
www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, GEP2000IL-03 series
EN / 2021-03-04
DDOC01219 / 0
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 := 103; (*Assignment of the desired process parameters*)
WorkpieceNo := 3; (*Recipe is to be stored as the third workpiece recipe*)
PositionTolerance := 50;
BasePosition := 100;
WorkPosition := 2000;
GripForce := 1;
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
gripper
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
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; (*Resets
the
ControlWord*)
iStep
:=
60; (*Jump
to
the
next
step*)
END_IF;
60:
IF NOT StatusWord.12 THEN (*Queries the completion of the data transmission, "DataTransferOK"=
FALSE,
this
process
may
last
several
seconds*)
iStep
:=
0; (*Is
storage
complete?*)
END_IF;
END_CASE
