INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, HRC-01/-02 series
17
DDOC00416 / a
EN / 2020-08-19
Zimmer GmbH
●
Im Salmenkopf 5
●
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
Bit 9: „MoveToWork“
►
Setting this bit communicates to the gripper that it should move to the “WorkPosition.”
Bit 10: „JogToWork“
►
Setting this bit in the “ControlWord” puts the gripper in jog mode and slowly moves toward the
“WorkPosition.” If the bit is reset, the gripper stops.
Bit 11: „JogToBase“
►
Setting this bit in the “ControlWord” puts the gripper in jog mode and slowly moves toward the
“BasePosition.” If the bit is reset, the gripper stops.
8.3.2 “DeviceMode” parameter
Name
"DeviceMode"
Data format
UINT8
Permission
Write
Transfer
Cyclic
Value range
0 to 256
“Basic commands”
These modes control the basic gripper actions.
"DeviceMode"
Action
"ControlWord"
0
Not guided to the motor control system
dc
1
Idle
0x1
2
Gripper reset
0x1
3
Switch on motor
0x1
5
Switch off motor/stop gripping movement
0x1
10
Start homing (necessary only if the gripper was moved without a voltage
supply)
0x1
11
Enable jog mode
0x400/0x800
