INSTALLATION AND OPERATING INSTRUCTIONS:
GEH6000IL/GED6000IL
INSTALLATION AND OPERATING INSTRUCTIONS:
GEH6000IL/GED6000IL
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EN / 2021-07-28
DDOC00212 / 0
EN / 2021-07-22
DDOC00212 / 0
Zimmer GmbH
•
Am Glockenloch 2
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
www.zimmer-group.com
Zimmer GmbH
•
Am Glockenloch 2
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
www.zimmer-group.com
11.15 Interruption of the power supply
During an interruption of the voltage supply (e.g. when using a tool changer), make absolutely sure that the product stores
the last position in the controller.
INFORMATION
If this sequence is not observed, small movements in the product during switch-off can add up to an increasingly
large position error over time.
►
Carry out a handshake before switching off the power supply.
►
Use a timer to delay the shutoff of the power supply by 2 seconds.
Ö
This ensures that no change of position occurs during a restart.
11.16 Easy Startup
Describes the process from switching on the product to the initial movement.
►
Connect the product according to its assignment diagram.
Ö
The product reports the process parameters StatusWord, Diagnosis and ActualPosition immediately after the internal
controller is booted up.
Ö
As soon as the PLCActive bit is registered in the StatusWord, the communication process can start.
►
Transmit the process parameters to move the product.
• DeviceMode
•
WorkpieceNo
•
PositionTolerance
• GripForce
• DriveVelocity
• BasePosition
• ShiftPosition
•
TeachPosition
•
WorkPosition
►
Transmit the parameters to the product with a handshake.
INFORMATION
►
For information and an example code for the handshake, refer to the "Quickstart Basic Parameters" and
"Recipe Examples" sections.
11.17 Starting the data transfer
►
Start the data transmission with the ControlWord = 1 (decimal).
Ö
As soon as the process parameter has been transmitted to the product, the product will report this back in the
StatusWord with the DataTransferOK bit.
Ö
The product is ready to operate.
INFORMATION
►
For information about data transfer and possible parameters, refer to the "Parameters" section.
11.18 Quickstart basic parameters
INFORMATION
The following example code applies to products with -03 in the part number.
For products with -31 in the part number, mode 82 must be used for operation instead of 85.
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
CASE iStep OF
0:
IF StatusBit.6 THEN
// Query for GripperPLCActive bit in the StatusWord
ControlWord
:= 1;
// Data transfer to the gripper
DeviceMode
:= 3;
// Command to switch on the motor
WorkpieceNo
:= 0;
// 0 means that the current process parameters are being used
PositionTolerance
:= 50;
// Sample parameter ...
GripForce
:= 50;
DriveVelocity
:= 50;
BasePosition
:= 100;
ShiftPosition
:= 2000;
TeachPosition
:= 3800;
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
:= 85;
// 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 DataTransferOK = TRUE bit from StatusWord
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;
// Set move command toward WorkPosition
iStep
:= 50;
END_IF;
50:
IF NOT StatusWord.10 THEN
// Query if WorkPosition was reached
ControlWord
:= 256;
// Set move command toward BasePosition
iStep
:= 60;
END_IF;
END_CASE;
