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
11.12 DeviceMode 17
WARNING
Risk of injury due to increased force of the product during homing
The product force during the reference run is very high with the new DeviceMode.
►
Make sure that an external end stop is installed in the machine or system into which the product is being
installed.
Ö
If the internal end stop of the product is used, this will result in higher wear.
►
Set the DriveVelocity to a low value before starting homing.
• Recommendation: DriveVelocity
10
►
Increase the value if a higher force is required for homing.
►
Assign DeviceMode 3.
►
Transmit this value to the product with ControlWord 1.
Ö
The motor is switched on.
►
Transmit the following values.
Parameter
Value
Unit
DeviceMode
17
-
WorkpieceNo
0
-
PositionTolerance
50
0.01 mm
DriveVelocity
10
%
BasePosition
100
0.01 mm
WorkPosition
4000
0.01 mm
►
Transmit the parameters to the product with a handshake.
• ControlWord 1
•
WorkPositionmust not be greater than 75.
Ö
The gripper jaws move to the inside until they encounter the internal mechanical end stops.
Ö
After reaching the mechanical end stops, the product accepts the value of the WorkPosition as its new ActualPo-
sition.
Ö
For example, the new ActualPosition would be
4000
(see table).
Ö
After homing, the motor is switched off.
►
Switch the motor on using DeviceMode 3 and the handshake.
►
Change the movement profile.
►
Start the operation.
Ö
The product responds with DiagnosisWord 0x0000.
Ö
The product is ready.
WARNING
Product jamming and damage
Since the ActualPosition in this DeviceMode has an offset, the product does not know the position of the internal
end stop.
Ö
This makes it possible to move against the internal end stop at high speed, which can result in jamming of and
damage to the product.
11.13
Operation modes/movement profiles – GEH6000IL-03-B/GED6000IL-03-B
The following sections explain and describe the available DeviceModes. This section refers to the products with -03 in the
part number (products with self-locking mechanism).
11.13.1 DeviceModes GEH6000IL-03-B
DeviceMode
Remarks
5x
Positioning profiles
50
Positioning profile – standard
51
Positioning profile – high clock rate
6x
Force profiles – Outside gripping
60
Force profile – without holding pressure for energy-saving gripping
61
Force profile – high clock rate for energy-saving gripping
go
Force profile – with holding pressure for detecting part loss – standard
65
Force profile – without holding pressure for flexible/elastic components
7x
Force profiles – Inside gripping
70
Force profile – without holding pressure for energy-saving gripping
71
Force profile – high clock rate for energy-saving gripping
ho
Force profile – with holding pressure for detecting part loss – standard
75
Force profile – without holding pressure for flexible/elastic components
8x
Pre-positioning – Force profiles – Outside gripping
80
Pre-positioning – Force profile – without holding pressure for energy-saving gripping
81
Pre-positioning – Force profile – high clock rate for energy-saving gripping
85
Pre-positioning – Force profile – with holding pressure for detecting part loss
9x
Pre-positioning – Force profiles – Inside gripping
90
Pre-positioning – Force profile – without holding pressure for energy-saving gripping
91
Pre-positioning – Force profile – high clock rate for energy-saving gripping
95
Pre-positioning – Force profile – with holding pressure for detecting part loss
