INSTALLATION AND OPERATING INSTRUCTIONS:
Gripper, electric, GEP5000/GED5000 series
21
DDOC0021
1 / h
EN / 2020-08-15
Zimmer GmbH
•
Im Salmenkopf 5
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
+49 7844 9138 80
•
www.zimmer-group.com
8.4 Parameter
8.4.1
"ControlWord" parameter
NOTICE:
In the "ControlWord" parameter, only one single bit or the value 0 may be set at a time. Only the values
listed in the following table are valid:
Parameter
Decimal value
Hexadecimal value
Data transfer
1
0 x 1
WritePDU
2
0 x 2
Teach
8
0 x 8
Adjust
128
0 x 80
MoveToBase
256
0 x 100
MoveToWork
512
0 x 200
ErrorReset
32768
0x8000
Name
"ControlWord"
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
0 to 65535
"ControlWord" structure:
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Byte 1
“Error
Reset”
-
-
-
-
-
"MoveToWork"
"MoveToBase"
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 2
"Adjust"
-
-
-
"Teach"
-
"WritePDU"
"Datatransfer"
Bit 0: "Datatransfer"
► Setting this bit causes the gripper to accept the data transmitted in the process data ("WorkpieceNo" =
0) or the data stored in the workpiece data records ("WorkpieceNo = 1 to 32) as the active data set.
Bit 1: "WritePDU"
►
Setting this bit communicates to the gripper that it should write the current process data to the select-
ed tool recipe.
Bit 3: "Teach"
►
Setting this bit informs the gripper to save the current position as the "TeachPosition" in the selected
"WorkpieceNo."
INFORMATION:
This only works if there is no "0" that is transmitted in the workpiece number!
