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11.4.5 GripForce
The product can use various gripping forces for an optimized process sequence. The gripping force is indicated as a
percent from the minimum to the maximum gripping force. The user can transmit the required gripping force in increments
of 1%.
Name
GripForce
Data format
UINT8
Permission
Write
Transfer
Cyclical
Value range
1 ... 100 %
NOTICE
For the products GEH6000IL-03 and GED6000IL-03, operation up to 130% gripping force is possible. During this
process, the product switches to a higher maximum permitted peak current.
Ö
Depending on the shape of the gripper fingers, the product may become jammed.
11.4.6 DriveVelocity
The product can work at various movement speeds for an optimized process sequence.
This parameter determines the movement speed of the product in both directions in PositionProfile.
In the other modes, this parameter determines the movement speed from the workpiece.
In PrePosition-ForceProfile mode, it determines the movement speed to the switching position.
The positioning speed is specified as a percentage value (1% to 100%). The product converts this information to its
maximum movement speed.
INFORMATION
Example:
To set a movement speed of 75%, a value of 75 (DriveVelocity = 75) must be transmitted.
Name
DriveVelocity
Data format
UINT8
Permission
Write
Transfer
Cyclical
Value range
1 ... 100 %
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
StatusWord.
Moving beyond this position is also possible.
►
Select an appropriately large distance to the mechanical end stop.
Name
BasePosition
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
0.75 to max. jaw stroke of the p 0.75 mm
INSTALLATION AND OPERATING INSTRUCTIONS:
GEH6000IL/GED6000IL
DDOC00212 / p
EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
