INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw angular grippers, electric/pneumatic, HRC-05 series
23
DDOC00270 / f
EN / 2020-03-31
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
8.6 “Easy Startup”
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From switching on the gripper to the initial movement.
The gripper is to be connected in accordance with its assignment plan.
The gripper reports the "StatusWord", "Diagnosis" and "ActualPosition" process data immediately after the internal
controller is booted up.
Once the "PLCActive" bit is registered in the "StatusWord", the communication process can start. To move the
gripper, the process parameters must first be transmitted.
The following process parameters are to be transmitted:
• "DeviceMode"
• "PositionTolerance"
A "Handshake" is required so the process parameters are transmitted to the gripper.
INFORMATION:
For information on the “Handshake”, please refer to Section 8.3.
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Code example "Handshake"
8.6.1 “Easy Startup” HRC-05 series
In the following example code, you see the first-time initialization of the gripper and the transfer of the process
parameters.
(*Initialization of the gripper, first-time move command = EasyStartUp Example*)
IF bStart = TRUE THEN
iStep := 10;
END_IF
CASE iStep OF
10:
IF StatusWord.6 THEN (*Queries the “PLCActive” bit in the StatusWord*)
ControlWord := 1; (*Sends the “DataTransfer” bit in the ControlWord for initialization*)
iStep := 20; (*Jump to the next step*)
END_IF
20:
IF StatusWord.12 THEN (*Queries the “DataTransferOK” bit in the StatusWord*)
ControlWord := 0; (*Reset the initialization*)
iStep := 30; (*Jump to the next step*)
END_IF
30:
IF NOT StatusWord.12 THEN
DeviceMode := 100; (*Command to select the universal motor*)
ControlWord := 1; (*Data transfer to the gripper*)
iStep := 40; (*Jump to the next step*)
END_IF
40:
IF StatusWord.12 THEN (*Queries the “DataTransferOK” bit in the StatusWord *)
ControlWord := 0; (*ControlWord reset*)
iStep := 50; (*Jump to the next step*)
END_IF
50:
IF NOT StatusWord.12 THEN
ControlWord := 512; (*Handshake is completed, gripper now moves to WorkPosition (0x200
or
512(decimal)
=
MoveToWork)*)
iStep := 100;
END_IF
100:
; (*continue with the program*)
END_CASE
