22
DDOC00247 / d
EN / 2020-07-20
Zimmer GmbH
●
Im Salmenkopf 5
●
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, pneumatically intelligent, GPP/GPD5000-IL series
8.2.1 "Initial commissioning" example parameters
For "initial commissioning," observe the following steps:
►
Transfer of standard parameters
The following table contains standard parameters for initial commissioning.
Name
Value
Unit
"DeviceMode"
100
Decimal
"WorkpieceNo."
0
Decimal
"PositionTolerance"
20
0.01 mm
These standard parameters are transferred using the "handshake" from Section 8.4.3.
The gripper then reports its operational readiness with
"DiagnosisWord" = 0x00.
8.2.2 "Starting gripping movement: example parameters
The gripper receives the move command by sending the "ControlWord" = 0x0100
or "ControlWord" = 0x0200
.
When the gripper reaches the corresponding position, this is displayed in the StatusWord as follows:
"Statusbit" 8 or 9 or 10 = TRUE
8.3 Parameter
8.3.1 "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
0x1
WritePDU
2
0x2
Teach
8
0x8
Adjust
128
0x80
MoveToBase
256
0x100
MoveToWork
512
0x200
ErrorReset
32768
0x8000
Name
"ControlWord"
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
0 to 65535
