3
11.1 IODD Import .......................................................................................................................................................................................................................22
11.2 Handshake Data Transfer Method ....................................................................................................................................................................................22
11.3 Parameters .........................................................................................................................................................................................................................23
11.3.1 ControlWord .........................................................................................................................................................................................................23
11.3.2 DeviceMode .........................................................................................................................................................................................................24
11.3.3 WorkpieceNo .......................................................................................................................................................................................................25
11.3.4 PositionTolerance ................................................................................................................................................................................................26
11.3.5 TeachPosition .......................................................................................................................................................................................................26
11.3.6 StatusWord ...........................................................................................................................................................................................................27
11.3.7 Diagnosis ..............................................................................................................................................................................................................28
11.3.8 ActualPosition ......................................................................................................................................................................................................29
11.4 Easy Startup .......................................................................................................................................................................................................................29
11.5 Quickstart Basic Parameters ............................................................................................................................................................................................30
11.6 Starting the gripping movement .......................................................................................................................................................................................31
11.7 Repeated movements in the same direction ...................................................................................................................................................................31
11.8 Recipe examples ...............................................................................................................................................................................................................32
INSTALLATION AND OPERATING INSTRUCTIONS:
LWR50L-24/-25
DDOC01073 / -
EN / 2022-07-20
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
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