14
DDOC00416 / a
EN / 2020-08-19
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:
2-jaw parallel gripper, electric, HRC-01/-02 series
8. Commissioning
8.1 Commissioning the IO-Link
8.1.1 Process data
There is an option to control the gripper only with the process data that is transmitted in each cycle.
Outputs: Process data from the IO-Link master to the gripper!
Name
Data type
ControlWord
UINT 16
DeviceMode
UINT 8
Workpiece No.
UINT 8
Reserve
UINT 8
PositionTolerance
UINT 8
GripForce
UINT 8
DriveVelocity
UINT 8
BasePosition
UINT 16
ShiftPosition
UINT 16
TeachPosition
UINT 16
WorkPosition
UINT 16
Name
Data type
StatusWord
UINT 16
Diagnosis
UINT 16
ActualPosition
UINT 16
Control
Gripper
Input
Output
