40
11.8.2.5
Pre-positioning force profiles group 90 – Inside gripping
In Mode Group 90, the product moves with ControlWord 0x0100 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 then braked. The product moves
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.
The ControlWord 0x0200 is used to open the product. The product is
moved automatically to the WorkPosition in the PositionProfile.
DeviceMode
Action
ControlWord
9x
Move toward the WorkPosition for opening the product.
0x0200
90
Move in the direction of the BasePosition at DriveVelocity until the ShiftPosition is
reached. Switch to GripForce until the BasePosition or the workpiece is reached.
0x0100
91
Move in the direction of the BasePosition at DriveVelocity until the ShiftPosition is
reached. Switch to GripForce until the BasePosition or the workpiece is reached.
Do not carry out an unlocking process.
0x0100
94
Move toward the BasePosition until this position or the workpiece is reached.
Carry out test for part loss with stronger holding pressure force.
0x0100
95
Move toward the BasePosition until this position or the workpiece is reached.
Carry out test for part loss.
0x0100
Pre-positioning force profile 90 – 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 91 - high cycle rate for energy-saving gripping
Behaves like mode 90, 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 in the WorkPosition, no forces act on the gripper jaws.
Pre-positioning - Force profile 94 - with stronger holding pressure for detection of part loss
Behaves like force profile 93, 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 95 - with holding pressure for detection of part loss
Behaves like force profile 90, with the addition that in this mode, the motor is energized continuously after gripping the
workpiece. After the gripping process, the bit in the TeachPosition is TRUE. In case a part is lost, the product moves to the
BasePosition. The part loss can be detected by sensing the BasePosition.
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
