18
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
8.3.3
Movement profiles
“PositionProfile”
The gripper moves into the “PositionProfile” using this mode.
The movement speed is configured using the “DriveVelocity” parameter.
The “TeachPosition” does not have any significance in this mode because the “BasePosition” or “WorkPosition”
is always approached precisely.
If the gripper encounters an obstacle in this mode while moving, it stops and issues an error message.
The gripper can be moved from the obstacle back to the starting position if the command is switched in the
“ControlWord.”
No defined gripping forces can be generated in this mode. As a result, friction-locked gripping is not permitted in
this mode.
"DeviceMode"
Action
"ControlWord"
50
Move to "BasePosition"
0x100
50
Move to "WorkPosition"
0x200
51
Move to "BasePosition"
Special movement profile for a faster movement of the gripper. The gripper
must never be jammed, i.e. neither be at the end stop nor have gripped a
workpiece.
0x100
51
Move to "WorkPosition"
Special movement profile for a faster movement of the gripper. The gripper
must never be jammed, i.e. neither be at the end stop nor have gripped a
workpiece.
0x200
DriveVelocity [%]
BasePosition [1/100 mm]
0-point
WorkPosition [1/100 mm]
