20
DDOC00416 / a
EN / 2020-08-19
Zimmer GmbH
●
Im Salmenkopf 5
●
77866 Rheinau, Germany
●
+49 7844 9138 0
●
+49 7844 9138 80
●
www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, HRC-01/-02 series
„PrePosition-ForceProfile“
This mode is an extension of the “ForceProfile.” This means that a typically quick prepositioning process takes
place until the “ShiftPosition” is reached.
Ö
When it reaches the “ShiftPosition,” the gripper switches over to the “ForceProfile” without
stopping the motor. Therefore, the “BasePosition,” “ShiftPosition” and “WorkPosition” have to be
defined for this mode.
Ö
The “DriveVelocity” and “GripForce” parameters also have to be configured.
Ö
Here, the “TeachPosition” also defines the workpiece position with adjustable tolerance.
Just as in the “ForceProfile,” the gripper moves away from the workpiece using the “PositionProfile” at the speed
specified with the “DriveVelocity” parameter.
Group „82“ - typically used for outside gripping
"DeviceMode"
Action
"ControlWord"
82
Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip-
Force" until the workpiece or the "WorkPosition" is reached.
0x200
82
Move toward the "BasePosition" for opening the gripper.
0x100
Group „92“ - typically used for inside gripping
"DeviceMode"
Action
"ControlWord"
92
Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip-
Force" until the workpiece or the "BasePosition" is reached.
0x100
92
Move toward the "WorkPosition" for opening the gripper.
0x200
DriveVelocity
BasePosition
0-point
WorkPositi-
TeachPosition
PositionToleran-
ShiftPosition
GripForce
