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DDOC0021
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EN / 2020-08-15
Zimmer GmbH
•
Im Salmenkopf 5
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
+49 7844 9138 80
•
www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:
Gripper, electric, GEP5000/GED5000 series
8.7 Starting gripping movement
The gripper receives the move command by the
“ControlWord” = 0x0100
or “ControlWord” = 0x0200
being sent.
• The movement order must be pending for as long as it takes until the desired position is reached.
When the gripper reaches the corresponding position, this is displayed in the "StatusWord" as follows.
“Statusbit” 8 or 9 or 10 = TRUE
8.8 "Save recipe"
A schematic program example for saving a new recipe is shown in the following.
(*Store tool workpiece recipes in Structured Text (ST)*)
IF bSave = TRUE THEN
iStep := 10;
END_IF;
CASE iStep OF
10:
DeviceMode := 1; (*Assignment of the desired process parameters*)
WorkpieceNo := 3; (*Recipe is to be stored as the third workpiece recipe*)
PositionTolerance := 50;
GripForce := 3;
TeachPosition := 500;
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 (*Query of the “DataTransferOK”=TRUE bit from StatusWord, this is
the response of the gripper to transferred data*)
ControlWord := 0; (*ControlWord reset*)
iStep := 40; (*Jump to the next step*)
END_IF;
40:
IF NOT StatusWord.12 THEN (*Queries the completion of the data transfer, “DataTransferOK” =
FALSE*)
ControlWord := 2; (*Handshake is completed, storage starts here via the
“WritePDU” bit in the ControlWord*)
iStep := 50; (*Jump to the next step*)
END_IF;
50:
IF StatusWord.12 THEN (*Queries the “DataTransferOK”=TRUE bit from StatusWord*)
ControlWord := 0; (*ControlWord reset*)
iStep := 60; (*Jump to the next step*)
END_IF;
60:
IF NOT StatusWord.12 THEN (*Queries the ending of the data transmission, “DataTransferOK”=
FALSE, this process may take several seconds*)
iStep := 0; (*Is storage complete?*)
END_IF;
END_CASE;
