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11.3.8 ActualPosition
ActualPosition corresponds to the current position of the gripper jaws relative to the full stroke.
The value is specified with a resolution of 0.01 mm.
The values can move between the BasePosition (minimum values) and the WorkPosition (maximum values).
With the position measuring system, it is possible to achieve a position accuracy of ± 0.05 mm.
Product
BasePosition
WorkPosition
LWR50L-24 series
0
2000
LWR50L-25 series
0
2000
Name
ActualPosition
Data format
UINT16
Permission
Read
Transfer
Cyclical
Value range
0 to max. jaw stroke of the product
INFORMATION
►
Use the StatusWord to check whether a workpiece has been gripped correctly.
• The position measurement resolution is 0.01 mm.
• The position measurement accuracy is 0.05 mm.
►
During commissioning, be aware of fluctuations around the exact value if you use ActualPosition to detect the
workpiece.
11.4 Easy Startup
Describes the process from switching on the product to the initial movement.
►
Connect the product according to its assignment diagram.
Ö
The product reports the process parameters StatusWord, Diagnosis and ActualPosition immediately after the internal
controller is booted up.
Ö
As soon as the PLCActive bit is registered in the StatusWord, the communication process can start.
►
Transmit the process parameters to move the product.
• DeviceMode
• WorkpieceNo.
• PositionTolerance
►
Transmit the parameters to the product with a handshake.
INFORMATION
►
For information and an example code for the handshake, refer to the "Quickstart Basic Parameters" and
"Recipe Examples" sections.
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
