15
Zimmer GmbH
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Im Salmenkopf 5
•
77866 Rheinau, Germany
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+49 7844 9138 0
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+49 7844 9138 80
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www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, GEP2000IL-03 series
EN / 2021-03-04
DDOC01219 / 0
When the hardware configuration is complete and the IO-Link connection to the product is established, some data must be
visible in the process input data.
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Some control systems demand a byte swap to bring this process data into a logical sequence.
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To determine whether a byte swap is necessary, you can view bit 6 (GripperPLCActive) in the "StatusWord."
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For this purpose, it is necessary to determine whether bit 6 is active in the first or second status byte.
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If bit 6 is active in the first byte, the bytes already have the correct sequence and commissioning can be continued.
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If bit 6 is active in the second byte, a byte swap still has to be applied here.
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For further information, refer to the "StatusWord" section.
8.1.2 IODD import
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Import the IODD (device description) into the control system.
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Go to our website.
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Select the desired product and download the corresponding .zip file via "Download IODD Link."
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The ".zip file" is required for importing into the control system.
INFORMATION
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It is mandatory to verify the process data.
The product is controlled via IO-Link by means of the cyclical process data as well as the acyclical service data with a cycle
time of 5 ms.
8.2 "Handshake" data transfer method
All process data that is transferred to the product and is described in the sections that follow must be transferred using the
"Handshake."
INFORMATION
This procedure is called "handshake" because it enables "clean" transmission.
The transfer of the process data to the product takes place through what is called "hand to hand" control.
The following steps are required for the "Handshake":
The data transfer starts with the transfer of
"ControlWord" = 0x01
to the gripper.
Subsequently, the response of the gripper must be tested by means of
"Statusbit" 12 = TRUE
(data transfer OK).
Following this, the "ControlWord" = 0
can be sent, which ends the data transfer.
The operator automatically concludes the data transfer with the
"ControlWord" = 0x00
and the corresponding
response from the gripper via the
"Statusbit" 12 = FALSE
.
