INSTALLATION AND OPERATING INSTRUCTIONS:
Gripper, electric, GEP5000/GED5000 series
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DDOC0021
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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
8.6.1 “Easy Startup” example code GEP/GED5000IL series
In the following example code, you see the first-time initialization of the gripper and the transfer of the process
parameters.
(*Initialization of the gripper, first-time move command = EasyStartUp Example*)
IF bStart = TRUE THEN
iStep := 10;
END_IF;
CASE iStep OF
10:
IF StatusWord.6 THEN (*Queries the “PLCActive” bit in the StatusWord*)
ControlWord := 1; (*Sends the “DataTransfer” bit in the ControlWord for initialization*)
iStep := 20; (*Jump to the next step*)
END_IF;
20:
IF StatusWord.12 THEN (*Queries the “DataTransferOK” bit in the StatusWord*)
ControlWord := 0; (*Reset the initialization*)
iStep := 30; (*Jump to the next step*)
END_IF;
30:
IF NOT StatusWord.12 THEN
DeviceMode := 1; (*Command to select the universal motor*)
GripForce := 1; (*Setting the stroke gripping force*)
PositionTolerance := 50; (*Setting the position tolerance*)
ControlWord := 1; (*Data transfer to the gripper*)
iStep := 40; (*Jump to the next step*)
END_IF;
40:
IF StatusWord.12 THEN (*Queries the “DataTransferOK” bit in the StatusWord *)
ControlWord := 0; (*ControlWord reset*)
iStep := 50; (*Jump to the next step*)
END_IF;
50:
IF NOT StatusWord.12 THEN
ControlWord := 512; (*Handshake is completed, gripper now moves to WorkPosition (0x200
or 512(decimal) = MoveToWork)*)
iStep := 100; (*Jump to the next step*)
END_IF;
100:
; (*continue with the program*)
END_CASE
