Zimmer Match LWR50L-21 Series, Инструкция по установке и эксплуатации

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11.11 Quickstart Basic Parameters
In the following example, you see the first initialization of the product, the activation of the motor and the transmission of the
process parameters.
// Initialization of the product
// Motor switch-on
// Initial move command
// = EasyStartUp Example
5:
IF StatusBit.6 THEN // Query for PLCActive bit in the StatusWord
ControlWord := 1; // Data transfer to the product
DeviceMode := 3; // Command to switch on the motor
WorkpieceNo := 0; // 0 = current process parameters are being used
PositionTolerance := 50;
GripForce := 50;
DriveVelocity := 50;
BasePosition := 100;
ShiftPosition := 2000;
TeachPosition := 4000;
WorkPosition := 4000;
iStep := 10; // Jump to the next step
END_IF
10:
IF StatusBit.12 AND StatusBit.1 THEN // Query for DataTransferOK bit AND MotorON in the StatusWord
ControlWord := 0; // Reset of the initialization
iStep := 20; // Jump to the next step
END_IF
20:
IF NOT StatusWord.12 THEN // Query for completion of the data transfer,
// DataTransferOK = FALSE
DeviceMode := 80; // Loading a DeviceMode
ControlWord := 1; // Begins with the handshake
iStep := 30; // Jump to the next step
END_IF
30:
IF StatusWord.12 THEN // Queries the bit DataTransferOK=TRUE from StatusWord,
// Response of the product to transferred data
ControlWord := 0; // Reset of the ControlWord
iStep := 40; // Jump to the next step
END_IF
40:
IF NOT StatusWord.12 THEN // Query for completion of the data transfer,
// DataTransferOK = FALSE
ControlWord := 512; // Handshake is completed,
// Product moves to WorkPosition (0x0200 or 512(decimal) = MoveToWork)
iStep := 50;
END_IF
50:
...
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-21/LWR50L-22
DDOC01071 / b
EN / 2021-11-25
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