INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, HRC-01/-02 series
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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
„ForceProfile“
In this mode, the gripper moves onto the workpiece in the “ForceProfile.”
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The “GripForce” parameter is used to configure the desired gripping force.
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The “TeachPosition” parameter is used to define the workpiece position.
Since gripping typically only occurs in one direction, there is a distinction made between the two mode groups
“62” and “72.”
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In the “62” mode group, the gripper in the “ForceProfile” moves from the “BasePosition” toward
the “WorkPosition” onto the workpiece using the “ControlWord” command “0x200.”
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If the “ControlWord” command “0x100” is written in the “62” mode group, then the gripper travels
away from the workpiece to the “BasePosition” in the “PositionProfile,” without the need for any
prompts from the user. Here, the gripper moves at the speed set in the “DriveVelocity” parameter.
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This procedure is reversed in the “72” mode group. As such, the “62” mode group is used for
outside gripping and the “72” mode group for inside gripping.
Group „62“ - typically used for outside gripping
"DeviceMode"
Action
"ControlWord"
62
Move toward the "WorkPosition" until this position or the workpiece is
reached.
0x200
62
Move toward the "BasePosition" for opening the gripper.
0x100
Group „72“ - typically used for inside gripping
"DeviceMode"
Action
"ControlWord"
72
Move toward the "WorkPosition" until this position or the workpiece is
reached.
0x100
72
Move toward the "BasePosition" for opening the gripper.
0x200
GripForce [%]
BasePosition [1/100
0-point
WorkPosition [1/100
TeachPosition
PositionToleran-
