32
11.9 Starting the gripping movement
►
Send ControlWord 0x0200 so that the product moves towards the WorkPosition.
Ö
The gripper jaws move towards the inside.
►
Send ControlWord 0x0100 so that the product moves towards the BasePosition.
Ö
The gripper jaws move towards the outside.
• The motion task must be pending for as long as it takes until the desired position is reached.
• The current motion task is canceled as a result of a new handshake.
Ö
When the product reaches the corresponding position, this is displayed in the StatusWord as follows:
• The product is at the BasePosition: StatusWord bit 8 = TRUE
• The product is at the TeachPosition: StatusWord bit 9 = TRUE
• The product is at the WorkPosition: StatusWord bit 10 = TRUE
11.10 Repeated movements in the same direction
The StatusWord includes two static flag bits, each of which is set in alternation when the product moves in one direction.
This prevents uncontrolled movements of the product in case of faulty data transmission.
Depending on the location of the positions, it is possible that the product may move multiple times in the same direction.
For this purpose, the direction flags must be reset.
►
Send the ControlWord = 0x0004 to delete the direction flags.
Ö
The direction flags are reset when the product answers with status bit 13 AND 14 = FALSE.
Program example for repeated movements in the same direction:
// Multiple movement in one direction in Structured Text (ST)
// The product is not capable of accepting multiple move commands in the same direction.
// That is why the direction flag has to be reset in the StatusWord.
// In this example, all process parameters are already correctly transferred.
// The previous move command toward the WorkPosition could not be executed
// because the product is being blocked by a workpiece.
// After the workpiece is removed, the direction flag is reset
// and the move command is restarted.
IF bReset = TRUE THEN
iStep
:= 10;
END_IF
CASE iStep OF
10:
IF Diagnose = 16#307 THEN
// Move command could not be executed.
iStep
:= 20;
// Jump to the error step
// to reset the direction flag
END_IF
20:
ControlWord
:= 4;
// Reset the direction flags
// (ResetDirectionFlag bit = TRUE in the ControlWord)
iStep
:= 30;
// Jump to the next step
30:
IF NOT StatusWord13 AND NOT
StatusWord14 THEN
// Query whether both direction flags
// (Bit ControlWord 0x0100 AND
// ControlWord 0x0200 = FALSE in ControlWord)
ControlWord
:= 512;
// Moves back toward WorkPosition
iStep
:= 100;
END_IF;
100:
;
// Continue with the program
END_CASE
INSTALLATION AND OPERATING INSTRUCTIONS:
GEP2000IL-03
DDOC01219 / b
EN / 2021-12-20
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
