INSTALLATION AND OPERATING INSTRUCTIONS:
GEH6000IL/GED6000IL
INSTALLATION AND OPERATING INSTRUCTIONS:
GEH6000IL/GED6000IL
48
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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
Since gripping should occur in one direction only, the positioning mode is used automatically in the opposite direction.
To do this, the product switches into positioning mode automatically when moving in the opening direction.
The movement profile determines the direction in which the workpiece is gripped:
•
For outside gripping, the movement profile group 80 is used.
•
For inside gripping, the movement profile group 90 is used.
11.14.5.1
Group 80 Pre-positioning force profiles – outside gripping
In movement profile group 80, the product moves in the PositionProfile
from the DriveVelocity to the ShiftPosition and then with the ForceProfile
and GripForce from the ShiftPosition towards the workpiece in the
direction of the WorkPosition using the ControlWord command 0x0200.
When the workpiece is gripped, the configured gripping force is built up
and the product goes into a self-locked state. For releasing, an internal
unlocking operation must be carried out.
If no workpiece is gripped during the gripping process, a movement to
WorkPosition is carried out and braking starts at this position. As a result,
the product moves slightly behind the configured position before it turns
around and comes to a stop at the WorkPosition. This enables secure
gripping of workpieces up to the WorkPosition.
For opening, the ControlWord command 0x0100 is written, then the
product moves away from the workpiece to the BasePosition in the Positi-
onProfile without the need for any prompts from the operator. Here, the
product moves at the speed set in the DriveVelocity parameter.
The individually available DeviceModes and their differences are
explained in the following.
82 – Pre-positioning force profile – standard
When starting from the BasePosition, the movement begins with a positioning to the ShiftPosition at the DriveVelocity and
then a switch to the GripForce with which the product is to grip the workpiece. If the product encounters the workpiece
while moving, an increase in current is detected and the configured gripping force is built up. When the workpiece is
gripped, the configured gripping force is built up and maintained by the motor current.
Group 82 – Outside gripping
DeviceMode
Action
ControlWord
82
Move toward the BasePosition for opening the product.
0x0100
82
Move at DriveVelocity to the ShiftPosition and then with GripForce until the
workpiece or the WorkPosition is reached.
0x0200
11.14.5.2
Group 90 Pre-positioning force profiles – inside gripping
In movement profile group 90, the product moves in the PositionProfile
to the ShiftPosition at the DriveVelocity and then with the ForceProfile
and the GripForce from the ShiftPosition towards the workpiece in the
direction of the BasePosition using the ControlWord command 0x0100.
When the workpiece is gripped, the configured gripping force is built up
and maintained by the motor current. For releasing, an internal unlocking
operation must be carried out.
If no workpiece is gripped during the gripping process, a movement to
BasePosition takes place and braking starts at this position. As a result,
the product moves slightly behind the configured position before it turns
around and comes to a stop at the BasePosition. This enables secure
gripping of workpieces up to the BasePosition.
For opening, ControlWord command 0x0200 is written. Then the product
moves away from the workpiece to the WorkPosition in the Positi-
onProfile without the need for any prompts from the operator. Here, the
product moves at the speed set in the DriveVelocity parameter.
The individually available DeviceModes and their differences are
explained in the following.
92 – Pre-positioning force profile – standard
When starting from the WorkPosition, the movement begins with a positioning to the ShiftPosition at the DriveVelocity and
then a switch to the GripForce with which the gripper is to grip the workpiece. If the gripper encounters the workpiece
while moving, a current rise is detected and the configured gripping force is built up. When the workpiece is gripped, the
configured gripping force is built up and maintained by the motor current.
Group 92 – Inside gripping
DeviceMode
Action
ControlWord
92
Move toward the WorkPosition for opening the product.
0x0200
92
Move at DriveVelocity to the ShiftPosition and then with GripForce until the
workpiece or the BasePosition is reached.
0x0100
