26
DDOC00270 / f
EN / 2020-03-31
Zimmer GmbH
●
Im Salmenkopf 5
●
77866 Rheinau, Germany
●
+49 7844 9138 0
●
+49 7844 9138 80
●
www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw angular grippers, electric/pneumatic, HRC-05 series
8.9 Recipe examples "Load recipe"
For loading a new recipe, a schematic program example is shown in the following.
(*Load workpiece recipes in Structured Text (ST)*)
IF bLoad = TRUE THEN
iStep := 10;
END_IF
CASE iStep OF
10:
WorkpieceNo := 3; (*Third workpiece recipe is to be loaded*)
iStep := 20; (*Jump to the next step*)
20:
ControlWord := 1; (*Begins with the handshake*)
iStep := 30; (*Jump to the next step*)
30:
IF StatusWord.12 THEN (*Query of the “DataTransferOK” =TRUE bit from StatusWord, this is
the
response
of
the
gripper
to
transferred
data*)
ControlWord := 0; (*ControlWord reset*)
iStep := 40; (*Jump to the next step*)
END_IF;
40:
IF NOT StatusWord.12 THEN (*Queries the completion of the data transfer, “DataTransferOK”=
FALSE*)
iStep := 0; (*Handshake is completed, the parameters from the third
recipe
are
now
taken
over
in
the
current
process
parameters*)
END_IF;
END_CASE
