39
11.8.2.4
Pre-positioning force profiles group 80 – Outside gripping
In Mode Group 80, the product moves with ControlWord 0x0200 in the
PositionProfile toward the ShiftPosition. Then, the product moves in
ForceProfile and Gripforce moves from the ShiftPosition toward the
WorkPosition onto the workpiece.
The workpiece is gripped and the set gripping force is built up. The
self-locking mechanism is activated automatically. For releasing, an
unlocking operation must be carried out.
If no workpiece is gripped during the gripping process, the product
moves on to the WorkPosition and is braked. The product moves 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.
The ControlWord 0x0100 is used to open the product. The product is
moved automatically to the BasePosition in the PositionProfile.
DeviceMode
Action
ControlWord
8x
Move toward the BasePosition to open the product.
0x0100
80
Move in the direction of the WorkPosition at DriveVelocity until the ShiftPosition is
reached. Switch to GripForce until the WorkPosition or the workpiece is reached.
0x0200
81
Move in the direction of the WorkPosition at DriveVelocity until the ShiftPosition is
reached. Switch to GripForce until the WorkPosition or the workpiece is reached.
Do not carry out an unlocking process.
0x0200
84
Move toward the WorkPosition until this position or the workpiece is reached.
Carry out test for part loss with stronger holding pressure force.
0x0200
85
Move toward the WorkPosition until this position or the workpiece is reached.
Carry out test for part loss.
0x0200
Pre-positioning force profile 80 – without holding pressure for energy-saving gripping
Before the movement starts, an unlocking operation is run for releasing. The movement begins with the positioning to the
shift position. The gripper moves at the speed set in the Drive Velocity parameter. Then, the product starts moving toward
the workpiece with GripForce. If the product encounters the workpiece while moving, an increase in current is detected and
the gripping force is built up. The self-locking mechanism is triggered automatically and the motor is practically
de-energized. This enables energy-saving gripping.
►
If the workpiece disengages from the gripper, the gripper jaws do not follow along and no part loss can be detected.
Pre-positioning force profile 81 - high cycle rate for energy-saving gripping
Behaves like mode 80, but when the gripping movement starts, the unlocking operation is omitted and the movement is
started immediately. This enables a shorter response time during the drive to the WorkPosition.
►
Ensure that no forces act on the gripper jaws in the BasePosition.
Pre-positioning - Force profile 84 - with stronger holding pressure for detection of part loss
Behaves like force profile 85, but the motor is energized with more current. This increases the holding pressure force, but
the heating of the gripper and the energy consumption increase.
Pre-positioning force profile 85 - with holding pressure for detection of part loss
Behaves like force profile 80, with the addition that in this mode, the motor is energized continuously after gripping the
workpiece. If the gripping process was successful, the bit in the TeachPosition becomes TRUE. In case a part is lost, the
product keeps moving to the WorkPosition. The part loss can be detected by sensing the WorkPosition.
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
