Zimmer GEP5000IL Series, Инструкция по установке и эксплуатации

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EN / 2020-08-15
Zimmer GmbH
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Im Salmenkopf 5
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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: Gripper, electric, GEP5000/GED5000 series
8.4.6 "TeachPosition" parameter
The “TeachPosition” tells the gripper the position at which the workpiece is expected. The “PositionTolerance”
functions around this position. Thus the gripper can distinguish whether a correct or incorrect workpiece has
been gripped. Confirmation that the correct workpiece has been gripped is communicated to the control sys -
tem via the “StatusWord” parameter. If the detection is correct, the "Teach" bit is set, thereby giving the user the
option to monitor this work step.
By means of the position measuring system, it is possible to achieve a “TeachPosition” accuracy of +/- 0.2 mm.
The following values are to be used:
Product "BasePosition" "WorkPosition" "TeachPosition"
GEP/GED5006IL 0 1200 0 to 1200
GEP/GED5008IL 0 1600 0 to 1600
GEP/GED5010IL 0 2000 0 to 2000
Name "TeachPosition"
Data format UINT16
Permission Write
Transfer Cyclical
Value range 0 to max. jaw stroke of the gripper
8.4.7 "StatusWord" parameter
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Byte 1
"Error" - -
"DataTrans-
ferOK"
“Undefined -
Position”
"WorkPosi-
tion"
"TeachPosi-
tion"
"BasePosi-
tion"
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte 0
-
“Gripper-
PLC Active”
- - - - - -
Bit 6: "GripperPLCActive"
► Active as soon as the gripper has booted up after the cold boot.
► This bit can be used to verify a "byte swap".
Bit 8: "BasePosition"
► Active if the gripper is set to "BasePosition".
Bit 9: "TeachPosition"
► Active if the gripper is set to "TeachPosition".
Bit 10: "WorkPosition"
► Active if the gripper is set to "WorkPosition".
Bit 11: “UndefinedPosition”
► Active if the gripper is not set to any taught-in position.
Bit 12: "DataTransferOK"
► This bit signals the successful data transfer, which is initiated with the “ControlWord” = 1 (DataTrans -
fer).
► Once the data from the gripper has been taken over by the parameter "ControlWord" =1 (decimal), this
bit is active.
Bit 15: "Error"
► Error in the gripper.
► If this bit is active, the error message can be determined using the "Diagnosis" parameter.
The following steps are required for the "fault acknowledgment":
If the gripper has a fault, the error bit is set in the status word.
This fault can be reset by sending

“ControlWord” = 0x8000

.