INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, HRC-01/-02 series
25
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
Bit 12: „DataTransfer“ OK
►
This bit is used for data transmission, using the “Handshake.”
►
As soon as data has been taken over by the parameter “ControlWord” =1 (decimal) in the gripper,
this bit is active.
Bit 13: “ControlWord” 0x100
►
This bit is a direction flag and is active when the last movement order was made in the “BasePosi
-
tion” direction.
Bit 14: “ControlWord” 0x200
►
This bit is a direction flag and is active when the last movement order was made in the “WorkPosi
-
tion” direction.
Bit 15: “Error”
►
Error in the gripper.
►
If this bit is active, the error message can be determined via the “Diagnosis” parameter.
8.3.13 “Diagnosis” parameter
The value returned in the parameter corresponds to the error code (see “Troubleshooting” section).
Name
"Diagnosis"
Data format
UINT16
Permission
Read
Transfer
Cyclic
Value range
0 to 65535
8.3.14 “ActualPosition” parameter
The parameter “ActualPosition” corresponds to the current position of the gripper jaws relative to the full stroke.
The value is specified with an accuracy of 0.01 mm.
Name
"ActualPosition"
Data format
UINT16
Permission
Read
Transfer
Cyclic
Value range
0 to max. jaw stroke of the gripper
INFORMATION:
The “StatusWord” of the gripper should be used to check whether a workpiece has been gripped cor-
rectly.
Ö
The position measurement resolution is: 0.01 mm
Ö
The position measurement accuracy is: 0.1 mm
If the “ActualPosition” parameter is used to detect the workpiece, then fluctuations around the exact
value must be taken into account during commissioning!
