DDOC00247
enu / 2018-09-14 / Index a
INSTALLATION AND OPERATING INSTRUCTIONS:
Pneumatic gripper, intelligent GPP/GPD5000IL series
Zimmer GmbH
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Im Salmenkopf 5
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77866 Rheinau, Germany
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Phone: +49 7844 9138-0
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Fax: +49 7844 9138-80
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www.zimmer-group.de
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7.5.9 "ActualPosition" parameter
Details:
Name:
ActualPosition
Data format:
UINT16
Permission:
Read
Transmission:
Cyclical
Value range:
0 to max. jaw stroke of the gripper
The "ActualPosition" parameter corresponds to the current position of the gripper jaws with respect to the full stroke of the gripper
and scaled to 0.01 mm.
Example:
For a GPP5006IL gripper:
Depiction of the left gripper fingers:
Depiction of right gripper fingers:
Depiction of workpiece:
"Actual position" = "0" corresponds to the "Gripper to BasePosition" status (open):
...............
"Actual position" = "800" corresponds to the "Gripper to TeachPosition" status (workpiece gripped):
"Actual position" = "1200" corresponds to the "Gripper to WorkPosition" status (closed):
7.6
Sensing of end positions
Two bits in the "status" parameter give feedback about the end positions.
The "BasePosition" bit (status = 768) is set when the base position is reached.
Accordingly, the "WorkPosition" bit (status = 1024) is set when the "WorkPosition" is reached.
The gripper is preset at the factory to have its end positions sensed at the maximum potential stroke of the gripper.
For special gripper jaws, if necessary, the end positions can be reset using an automated traversing routine. This means that the
"WorkPosition" or "BasePosition" will reference itself again accordingly.
► To this end, the "adjust" bit must be set in the "ControlWord" = 2048 for at least 2 seconds
The requirement here is that no additional bit is set in the "ControlWord"
If this bit is canceled before the end of the traversing routine, the procedure must be repeated because in this case the end
positions have not been correctly determined.
Warning:
At the gripper, a movement is triggered immediately when the bit is set!
► Risk of injury
►
Before setting the bit, check whether the movement range of the gripper is clear.
7.7
Service parameters
7.7.1
Status 0x40
7.7.2
Diagnostics 0x41
Details:
Name:
StatusWord
Data format:
UINT16
Permission:
Read
Transmission:
Acyclical
Details:
Name:
Diagnostics
Data format:
UINT16
Permission:
Read
Transmission:
Acyclical
Service data is not exchanged cyclically in each communication cycle. This data is exchanged only acyclically upon request of the
IO-Link master. Transmission of this acyclical data occurs over multiple communication cycles.
This parameter can be used to read out the "StatusWord" of the gripper.
This parameter can be used to read out the "DiagnosisWord" of the gripper.
Note: Corresponds to the process data field
