28
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
8.6.3 “DeviceMode” 16
WARNING:
Risk of injury due to increased force of the gripper during „Homing“
The “Homing force” is very high with the new “DeviceMode.”
►
Make sure that an external end stop is installed in the machine or system into which the gripper is
installed.
►
If the gripper’s internal end stop is used, this will result in higher wear.
Make sure that the “DriveVelocity” is set to a low value before sending the “Homing command.”
Ö
Recommendation: “DriveVelocity” =
10
Ö
The value should be increased if greater force is required for “Homing.”
The following work steps are to be observed:
►
Assign the parameter “DeviceMode” = 3 and transmit this value to the gripper using the “Control-
Word” = 1.
Ö
The motor is switched on.
►
Now, transmit the following values.
Parameter
Value
Unit
"DeviceMode"
16
"WorkpieceNo."
0
"PositionTolerance"
50
0.01 mm
"DriveVelocity"
10
%
"BasePosition"
100
0.01 mm
"WorkPosition"
4000
0.01 mm
►
Transmit the parameter to the gripper using a “Handshake.”
Ö
“ControlWord” = 1
Ö
The parameter “BasePosition” must not be smaller than 75.
►
The gripper jaws move to the inside until they encounter the mechanical end stops. After reaching
the mechanical end stops, the gripper accepts the value of the “BasePosition” for its new
„Actual-
Position“
.
For example, this would be the new “ActualPosition” =
100
Ö
see table.
Ö
After “Homing,” the motor is switched off.
►
You can switch on the motor, switch to your movement profile and start it using the “DeviceMode”
= 3 and the “Handshake.”
The gripper answers with
"DiagnoseWord" = 0x00
The gripper is ready.
WARNING:
Gripper jamming and damage
Since the “ActualPosition” in this “DeviceMode” has an offset, the gripper does not know the position of
the internal end stop.
This makes it possible to move against the internal end stop at high speed, which can result in jamming
of and damage to the gripper.
