21
Zimmer GmbH
•
Im Salmenkopf 5
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
+49 7844 9138 80
•
www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, GEP2000IL-03 series
EN / 2021-03-04
DDOC01219 / 0
NOTICE
For exact positioning to the set "WorkPosition," and "BasePosition," the gripper starts with the braking process
shortly before reaching the desired position.
To reach full gripping force reliably, the following parameters can be used to disable the braking before the target
position:
"DeviceMode"
Parameters for disabling the braking ramp
60, 63 (outside gripping) "WorkPosition" = for max. position see Section „Parameter „WorkPosition““
70, 73 (inside gripping)
"BasePosition" = 0
Group "60" – typically used for outside gripping
"DeviceMode"
Action
"ControlWord"
63
Move toward the "WorkPosition" until this position or the workpiece is reached.
0x200
63
Move toward the "BasePosition" for opening the gripper.
0x100
Group "70" – typically used for inside gripping
"DeviceMode"
Action
"ControlWord"
73
Move toward the "BasePosition" until this position or the workpiece is reached.
0x100
73
Move toward the "WorkPosition" for opening the gripper.
0x200
Current feed profile for a gripping process with "DeviceMode" 63, 73, 103
1
2
3
4
Fahrbefehl Werkstück
gegriffen
500 ms
nach gegriffenem
Werkstück
I
t
Section
Description
1
standstill
2
movement
3
subsequent current feed
4
workpiece loss detection
