28
DDOC00247 / d
EN / 2020-07-20
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, pneumatically intelligent, GPP/GPD5000-IL series
8.3.6 "StatusWord" parameter
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Byte 1
"Error"
"Control-
Word" 0x200
"Control-
Word" 0x100
"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
-
"GripperPLC
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 (DataTransfer).
►
Once the data from the gripper has been taken over by the parameter "ControlWord" = 1 (decimal), this bit is active.
Bit 13: "ControlWord 0x100"
►
This bit is a direction flag and is active when the previous movement order was in the direction of the "BasePosition."
Bit 14: "ControlWord 0x200"
►
This bit is a direction flag and is active when the previous movement order was in the direction of the "WorkPosition."
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 malfunction, the error bit is set in the status word.
This malfunction can be reset by sending
"ControlWord" = 0x8000
.
INFORMATION:
It is advisable to use the "StatusWord" to verify correct gripping!
The "TeachPosition" tolerance can be adjusted in another process parameter.
For sensing the correct position via the ACTUAL position, the tolerances and fluctuations of the value must be
observed during programming!
Name
"StatusWord"
Data format
UINT16
Permission
Read
Transfer
Cyclical
Value range
0 to 65535
