Zimmer GEP2006IL-03-B, Инструкция по установке и эксплуатации

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series
EN / 2021-06-25
DDOC01219 / a
8.3.10 "StatusWord" parameter
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Byte 1 "Error"
"ControlWord"
0x200
"ControlWord"
0x100
"DataTransferOK"
"UndefinedPo -
sition"
"WorkPosition" "TeachPosition" "BasePosition"
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte 2 -
"Gripper-
PLCActive"
"JogWorkActive"
"+"
"JogBaseActive"
"-"
"Movement-
Complete"
"InMotion" "MotorON"
"HomingPo-
sition" OK
Bit 0: "HomingPosition" OK
The gripper is calibrated at the factory and does not have to be referenced by the customer.
Bit 1: "MotorON"
The motor of the grippers is switched on automatically when there is a move command. The customer cannot switch it on/
off manually.
Bit 2: "InMotion"
This bit is active during the run.
Bit 3: "MovementComplete"
This bit is active after the movement is complete.
Bit 4: "JogBaseActive" "-"
Confirmation during the "Jog" run in the direction of "BasePosition."
Bit 5: "JogWorkActive" "+"
Confirmation during the "Jog" run in the direction of "WorkPosition."
Bit 6: "GripperPLCActive"
This bit is active as soon as the gripper has booted up after the cold start. This bit can be used to verify a "byte swap."
Bit 8: "BasePosition"
This bit is active if the gripper is at "BasePosition."
Bit 9: "TeachPosition"
This bit is active if the gripper is at "TeachPosition."
Bit 10: "WorkPosition"
This bit is active if the gripper is at "WorkPosition."
Bit 11: "UndefinedPosition"
This bit is active if the gripper is neither at "TeachPosition," "WorkPosition" nor "BasePosition."
Bit 12: "DataTransferOK"
This bit is used for data transmission, using the "handshake." As soon as data has been taken over by the parameter
"ControlWord" =1 in the gripper, this bit is active.
Bit 13: "ControlWord" 0x100
This bit is a direction flag and is active when the last movement order was made in the "BasePosition" direction.
Bit 14: "ControlWord" 0x200
This bit is a direction flag and is active when the last movement order was made in the "WorkPosition" direction.
Bit 15: "Error"
Error in the gripper. If this bit is active, the error message can be determined using the "Diagnosis" parameter.