INSTALLATION AND OPERATING INSTRUCTIONS:
GEH6000IL/GED6000IL
INSTALLATION AND OPERATING INSTRUCTIONS:
GEH6000IL/GED6000IL
24
25
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
11.4.7 BasePosition
The BasePosition defines the target position in the MoveToBase direction. It must always be less than the ShiftPosition. The
product verifies this and, if necessary, displays an error message.
If the current position of the product within the tolerance range is in the vicinity of the BasePosition, bit 8 is set in the
ControlWord.
The product can move past the BasePosition when a move command is run. This is a maximum of 2 mm, depending on the
movement speed and gripper finger dimensions. For this reason, a sufficiently great distance to the mechanical end stop
should be selected!
Name
BasePosition
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
0.75 to max. jaw stroke of the p 0.75 mm
11.4.8 ShiftPosition
The ShiftPosition must always be larger than the BasePosition and smaller than the WorkPosition. The product verifies this
and, if necessary, displays an error message.
Entry in 1/100 mm (example: 10 mm = 1000).
Name
ShiftPosition
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
0.75 to max. jaw stroke of the p 0.75 mm
11.4.9 TeachPosition
The TeachPosition defines the target position of the workpiece and its use is optional. If the current position of the product
within the tolerance range is around the TeachPosition, bit 9 is set in the Status. The size of the tolerance range is defined
using the PositionTolerance parameter.
Entry in 1/100 mm (example: 15 mm = 1500)
Name
TeachPosition
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
0.75 to max. jaw stroke of the p 0.75 mm
11.4.10 WorkPosition
The WorkPosition defines the closed target position of the product and has to be greater than the ShiftPosition. If the
current position of the product within the tolerance window is around the WorkPosition, bit 10 is set in the StatusWord.
The product can be moved past the WorkPosition when a move command is run. This is a maximum of 2 mm, depending
on the movement speed and gripper finger dimensions. For this reason, a sufficiently great distance to the mechanical end
stop should be selected!
Name
WorkPosition
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
0.75 to max. jaw stroke of the p 0.75 mm
Outputs: Process data from the product to the IO-Link master
11.4.11 StatusWord
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Byte 1
Error
ControlWord
0x0200
ControlWord
0x0100
DataTransferOK Undefined-
Position
WorkPo-
sition
TeachPo-
sition
BasePo
-
sition
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 0
Control
-
lerError
Gripper
-
PLCActive
JogWor
-
k
JogBase
-
Active -
Movement
-
Complete
InMotion
MotorON
HomingPo-
sition OK
Bit 0: HomingPosition OK
The product has its reference. This bit is mandatory. If the bit is FALSE, a reference run must be carried out. See the section
"Referencing by Homing".
Bit 1: MotorON
This bit is active when the motor is switched on by the DeviceMode = 3 (decimal) parameter. The motor is automatically
switched on during a Homing run (DeviceMode 10 (decimal)).
Bit 2: InMotion
This bit is active during the run.
Bit 3: MovementComplete
This bit is active after the movement is complete.
Bit 4: JogBaseActive -
Confirmation during the Jog run in the direction of BasePosition.
Bit 5: JogWork
Confirmation during the Jog run in the direction of WorkPosition.
Bit 6: GripperPLCActive
Active as soon as the product has booted up after the cold boot. This bit can be used to verify a byte swap.
Bit 7: ControllerError
Error in the controller.
Bit 8: BasePosition
Active if the product is set to BasePosition.
Bit 9: TeachPosition
Active if the product is set to TeachPosition.
Bit 10: WorkPosition
Active if the product is set to WorkPosition.
