48
11.9.3.5
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; the configured gripping force is built up and
maintained by the motor current.
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.
Mode Group 92 – typically used for inside gripping
DeviceMode
Action
ControlWord
92
Move toward the WorkPosition for opening the product.
0x0200
92
Move to ShiftPosition at DriveVelocity, then switch to GripForce until the BasePo-
sition or the workpiece is reached.
0x0100
Pre-positioning force profile group 90 – Standard
The movement starts from the WorkPosition and 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
set gripping force is maintained by the motor current.
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
