INSTALLATION AND OPERATING INSTRUCTIONS:
Gripper, pneumatically intelligent, GPP/GPD5000-IL series
23
Zimmer GmbH
●
Im Salmenkopf 5
●
77866 Rheinau, Germany
●
+49 7844 9138 0
●
+49 7844 9138 80
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www.zimmer-group.com
DDOC00247 / d
EN / 2020-07-20
"ControlWord" structure:
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Byte 1
"ErrorReset" -
-
-
-
-
"Move-
ToWork"
"MoveTo-
Base"
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 2
"Adjust"
-
-
-
"Teach"
"ResetDirec-
tionFlag"
"WritePDU" "DataTrans-
fer"
Bit 0: "DataTransfer"
►
Setting this bit causes the gripper to acquire 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 selected tool recipe.
Bit 2: "ResetDirectionFlag"
►
Setting this bit informs the gripper that the direction flag needs to be reset.
►
This makes a repeated movement to a position possible.
►
This is logical during a switchover of workpiece recipes.
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!
Bit 7: "Adjust"
►
If no other bit is set in the control word, the "AdjustBit" can be used to execute a readjustment of the end positions of the
jaw.
Bit 8: "MoveToBase"
►
Setting this bit communicates to the gripper that it should move towards the "BasePosition".
Bit 9: "MoveToWork"
►
Setting this bit communicates to the gripper that it should move towards the "WorkPosition".
Bit 15: "ErrorReset"
►
This bit can be used to acknowledge all errors that can be reset and thus reset them.
►
You can find out whether an error is present from the error list.
INFORMATION:
For further information, please refer to the "Error diagnosis" section.
