22
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
8.3.6 “GripForce” parameter
The gripper can work with various gripping forces to ensure an optimized process flow. The gripping force is
indicated as a percent from the minimum to the maximum gripping force. The user can transmit the required
gripping force in increments of 1%.
INFORMATION:
When the gripper reaches 100% gripping force, it switches to a higher maximum permitted peak current.
This means that, in the range of 100% to 130%, the gripper can draw a maximum current of 7.5 A for a
brief period.
Ö
This function does not apply for the GEH60xxIL-31-B series
.
Name
"GripForce"
Data format
UINT8
Permission
Write
Transfer
Cyclic
Value range
1 to 100 %
8.3.7 “DriveVelocity” parameter
The gripper can use different movement speeds for an optimized process flow.
This parameter determines the movement speed of the gripper in both directions in the “PositionProfile” mode.
In the other modes, this parameter determines the movement speed from the workpiece.
In “PrePosition-ForceProfile” mode, it determines the movement speed to the switching position.
The positioning speed is specified as a percentage value (1 to 100 %). The gripper converts this information to its
maximum movement speed.
INFORMATION:
Example:
To set a movement speed of 75%, a value of 75 (“DriveVelocity” = 75) must be transmitted.
Name
"DriveVelocity"
Data format
UINT8
Permission
Write
Transfer
Cyclic
Value range
1 to 100 %
8.3.8 “BasePosition” parameter
The “BasePosition” must always be smaller than the “ShiftPosition.”
The gripper verifies this and, if necessary, indicates an error message.
If the current position of the gripper within the tolerance window is in the vicinity of the “BasePosition,” bit 8 is set
in the “ControlWord.”
Name
"BasePosition"
Data format
UINT16
Permission
Write
Transfer
Cyclic
Value range
0.75 to max. jaw stroke of the g 0.75
mm
