Zimmer HRC-04 Series, Инструкция по установке и эксплуатации

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
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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
DDOC00269 / d
EN / 3/31/2020
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 0 x 1
WritePDU 2 0 x 2
ResetDirectionFlag 4 0 x 4
Teach 8 0 x 8
Adjust 128 0 x 80
MoveToBase 256 0 x 100
MoveToWork 512 0 x 200
ErrorReset 32768 0x8000
Name "ControlWord"
Data format UINT16
Permission Write
Transfer Cyclical
Value range 0 to 65535
„ControlWord“ structure:
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Byte 1
“Error
Reset” -
- - - - "MoveToWork" "MoveToBase"
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte 0 "Adjust" - - - "Teach" "ResetDirection-
Flag"
"WritePDU" "Datatransfer"
Bit 0: „Datatransfer“
► Setting this bit causes the gripper to accept the data transmitted in the process data („Workpiece-
No“ = 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 selec-
ted „WorkpieceNo“.
INFORMATION:
This only works if there is no „0“ that is transmitted in the workpiece number!