INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, HRC-01/-02 series
23
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
8.3.9 “ShiftPosition” parameter
The “ShiftPosition” must always be larger than the “BasePosition” and smaller than the “WorkPosition.”
The gripper verifies this and, if necessary, indicates an error message.
Name
"ShiftPosition"
Data format
UINT16
Permission
Write
Transfer
Cyclic
Value range
0.75 to max. jaw stroke of the g 0.75
mm
8.3.10 “TeachPosition” parameter
The “TeachPosition” defines the target position of the workpiece and its use is optional.
If the current position of the gripper within the tolerance window is around the “TeachPosition,” bit 9 is set in the
“Status.”
The size of the tolerance window is defined using the “PositionTolerance” parameter.
Name
"TeachPosition"
Data format
UINT16
Permission
Write
Transfer
Cyclic
Value range
0.75 to max. jaw stroke of the g 0.75
mm
8.3.11 “WorkPosition” parameter
The “WorkPosition” defines the maximum travel path of the gripper and has to be greater than the “ShiftPosi
-
tion.”
In the “PositionProfile” mode, this position is precisely approached because the gripper is in positioning mode.
In the “PrePosition-ForceProfile” or “ForceProfile” modes, the gripper is stopped, starting from this position. The
gripper will move past the “WorkPosition” slightly.
Ö
A maximum of 2 mm, depending on the movement speed and gripper finger mass.
For “DeviceMode” 70/90, the same applies for the “BasePosition.”
Name
"WorkPosition"
Data format
UINT16
Permission
Write
Transfer
Cyclic
Value range
0.75 to max. jaw stroke of the g 0.75
mm
