30
11.4.11 Diagnosis
The value returned in Diagnosis corresponds to the error code (see "Error Diagnosis" section).
Name
Diagnosis
Data format
UINT16
Permission
Read
Transfer
Cyclical
Value range
0 ... 65535
11.4.12 ActualPosition
ActualPosition corresponds to the current position of the gripper jaws relative to the full stroke.
The value is specified with a resolution of 0.01 mm.
The values can move between the BasePosition (minimum values) and the WorkPosition (maximum values).
Product
BasePosition
WorkPosition
TeachPosition
Accuracy [mm]
GEP2006IL-03
0
1200
0 to max. 1200
± 0.05
GEP2006IL-43
0
2000
0 to max. 2000
± 0.05
GEP2010IL-03
0
2000
0 to max. 2000
± 0.05
GEP2010IL-43
0
2600
0 to max. 2600
± 0.05
GEP2013IL-03
0
2600
0 to max. 2600
± 0.1
GEP2013IL-43
0
3200
0 to max. 3200
± 0.1
GEP2016IL-03
0
3200
0 to max. 3200
± 0.1
GEP2016IL-43
0
4000
0 to max. 4000
± 0.1
Name
ActualPosition
Data format
UINT16
Permission
Read
Transfer
Cyclical
Value range
0 to max. jaw stroke of the product
INFORMATION
►
Use the StatusWord of the product to check whether a workpiece has been gripped correctly.
• The position measurement resolution is 0.01 mm.
• The accuracy of the position measurement depends on the installation size.
►
During commissioning, be aware of fluctuations around the exact value if you use the ActualPosition
parameter to detect the workpiece.
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:
GEP2000IL-03/GEP2000IL-43
DDOC01219 / c
EN / 2022-10-10
