27
11.4.3.3
ForceProfile LWR50L-22
GripForce [%]
BasePosition [1/100 mm]
0 point
WorkPosition [1/100 mm]
TeachPosition
PositionTolerance
In this mode, the product moves onto the workpiece in the ForceProfile.
GripForce is used to configure the desired gripping force.
TeachPosition is used to define the position of the workpiece.
Since gripping typically only occurs in one direction, there is a distinction made between the two mode groups 62 and 72.
In Mode Group 62, the product in the ForceProfile moves from the BasePosition toward the WorkPosition onto the
workpiece with ControlWord 0x0200.
If the ControlWord 0x0100 is written in Mode Group 62, then the product moves away from the workpiece to the BasePo
-
sition in the PositionProfile without the need for any prompts from the user. Here, the gripper moves at the speed set in the
DriveVelocity parameter.
This procedure is reversed in the Mode Group 72. Mode Group 62 is therefore used for outside gripping and the Mode
Group 72 for inside gripping.
Mode Group 62 – typically used for outside gripping
DeviceMode
Action
ControlWord
62
Move toward the WorkPosition until this position or the workpiece is reached.
0x0200
62
Move toward the BasePosition to open the product.
0x0100
Mode Group 72 – typically used for inside gripping
DeviceMode
Action
ControlWord
72
Move toward the WorkPosition until this position or the workpiece is reached.
0x0200
72
Move toward the BasePosition to open the product.
0x0100
INSTALLATION AND OPERATING INSTRUCTIONS:
LWR50L-21/LWR50L-22
DDOC01071 / b
EN / 2021-11-25
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
