32
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
8.4.9 "ActualPosition" 0x100
The "ActualPosition" corresponds to the current position of the gripper jaws with respect to the full stroke of the gripper,
scaled to 1/100 mm.
The "ActualPosition" can be influenced by a few positions, depending on the orientation of the gripper to the earth's mag
-
netic field.
Name
"ActualPosition"
Data format
UINT16
Permission
Read
Transfer
Acyclical
Value range
0–max. jaw stroke of the gripper
8.4.10 "TeachPosition" 0x101
This parameter can be used to read out the "TeachPosition" of the gripper that is currently being transmitted.
Name
"TeachPosition"
Data format
UINT16
Permission
Read
Transfer
Acyclical
8.4.11 "WorkpieceNo" 0x102
This parameter can be used to read out the workpiece number of the gripper that is currently being transmitted.
Name
"WorkpieceNo"
Data format
UINT8
Permission
Read
Transfer
Acyclical
8.4.12 "DeviceMode" 0x103
This parameter can be used to read out the driving mode of the gripper that is currently being transmitted.
Name
"DeviceMode"
Data format
UINT8
Permission
Read
Transfer
Acyclical
8.4.13 "PositionTolerance" 0x104
This parameter can be used to read out the tolerance of the "TeachPosition" of the gripper that is currently being transmit-
ted.
Name
"PositionTolerance"
Data format
UINT8
Permission
Read
Transfer
Acyclical
