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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
8.7 Interruption of the power supply
When interrupting the voltage supply (e.g. when using a tool changer), care must be taken to ensure that the grip-
per stores the last position in the controller.
This can be implemented by performing a “Handshake” before switching off the power supply. Additionally, a
timer shall delay the switch off of the power supply by 2 seconds.
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This ensures that no change of position occurs during a restart.
INFORMATION:
An example of a code can be found in the “Quickstart basic parameters” section (recipe examples).
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“Store recipe” and “Load recipe”
8.8 “Easy Startup”
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From switching on the gripper to the initial movement.
The gripper is to be connected in accordance with its assignment plan.
The gripper reports the “StatusWord,” “Diagnosis” and “ActualPosition” process parameters immediately after the
internal controller has booted up.
Once the “PLCActive” bit is registered in the “StatusWord,” the communication process can start. To move the
gripper, the process parameters must first be transmitted.
The following process parameters are to be transmitted:
• “DeviceMode”
• “WorkpieceNo”
• “PositionTolerance”
• “GripForce”
• “DriveVelocity”
• “BasePosition”
• “ShiftPosition”
• “TeachPosition”
• “WorkPosition”
A “Handshake” is required so the process parameters are transmitted to the gripper.
INFORMATION:
Please refer to the “Quickstart basic parameters” section (recipe examples) for information on the “Hand-
shake.”
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Code example “Handshake”
8.9 Start of data transmission
The data transmission starts with the “ControlWord” = 1 (decimal).
Once the process parameter has been transmitted to the gripper, the gripper will report this back in the “Sta-
tusWord” with the “DataTransferOK” bit.
The gripper is now ready for operation.
INFORMATION:
For further information on data transmission and possible positions, refer to the “StatusWord” section.
