Zimmer GmbH
•
Im Salmenkopf 5
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
+49 7844 9138 80
•
www.zimmer-group.com
32
INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, GEP2000IL-03 series
EN / 2021-06-25
DDOC01219 / a
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
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 transmission, "DataTransferOK"= FALSE*)
iStep := 0; (*Handshake is completed, the parameters from the third recipe are
now
applied
to
the
current
process
parameters*)
END_IF;
END_CASE
