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DDOC00247 / d
EN / 2020-07-20
Zimmer GmbH
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Im Salmenkopf 5
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77866 Rheinau, Germany
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+49 7844 9138 0
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+49 7844 9138 80
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www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:
Gripper, pneumatically intelligent, GPP/GPD5000-IL series
Parameter explanation (glossary)
Parameter
Explanation
ControlWord
The gripper is controlled using the "ControlWord."
The "ControlWord" is bit-exclusive, which means that only one bit at a time can be active in the
"Word." The value "ZERO" is also permitted.
DeviceMode
The "DeviceMode" is used to select gripping profiles as well as the additional help modes in
the gripper.
Workpiece No.
You can use this parameter to select or save the workpiece recipes stored in the gripper.
TeachPosition
The "TeachPosition" is the actual workpiece position.
WorkPosition
The "WorkPosition" is the inner jaw position on the gripper. Depending on the application, for
example with internal grippers, this can also be the standby position.
PositionTolerance
This is the tolerance window for the "TeachPosition." The value of the parameter acts in both
directions.
BasePosition
The "BasePosition" is the outer "JawPosition." Depending on the gripper profile, this can also
be a work position!
StatusWord
In its bits, the "StatusWord" returns the most important information about the status of the grip-
per to the control system.
Diagnosis
If an error should occur, the "Diagnosis" outputs a diagnostic code that can be compared with
the error list.
ActualPosition
The value of the current position of the gripper [1/100 mm].
Error
Fault, error message
Teach/Adjust
Program/Configure
Using this signal, depending on the gripper type, the current position of the gripper jaws can
be taught in as the new workpiece position. "Adjust" is used as a command to define the reach
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able end positions of the gripper jaws.
GND
Abbreviation for ground connection
Offset
Correction value
Traversing routine
Defined procedure for movement of the gripper jaws
Travel path
Path on which the gripper jaws travel