Zimmer GEP2000IO-45, Инструкция по установке и эксплуатации

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12.4.7 StatusWord
StatusWord structure:
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Byte 1 Error ControlWord
0x0200
ControlWord
0x0100
DataTransferOK Undefined -
Position
WorkPo-
sition
TeachPo-
sition
BasePo-
sition
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte 2 - Gripper-
PLCActive
- - - - - -
Bit 6: GripperPLCActive
Active as soon as the product has booted up after the cold boot.This bit can be used to verify a “byte swap."
Bit 8: BasePosition
Active if the product is set to BasePosition.
Bit 9: TeachPosition
Active if the product is set to TeachPosition.
Bit 10: WorkPosition
Active if the product is set to WorkPosition.
Bit 11: UndefinedPosition
Active if the product is not set to TeachPosition, WorkPosition or BasePosition.
Bit 12: DataTransferOK
This bit is used for data transmission using the handshake. Active as soon as the product has taken over the data using the
parameter ControlWord = 1 (decimal).
Bit 13: ControlWord 0x0100
This bit is a direction flag. Active if the last motion task was carried out toward BasePosition.
Bit 14: ControlWord 0x0200
This bit is a direction flag. Active if the last motion task was carried out toward WorkPosition.
Bit 15: Error
Active if the product has an active error. The error message can be determined using Diagnosis.
Name StatusWord
Data format UINT16
Permission Read
Transfer Cyclical
Value range 0 ... 65535
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INSTALLATION AND OPERATING INSTRUCTIONS: GEP2000
DDOC01113 / c
EN / 2022-11-16