INSTALLATION AND OPERATING INSTRUCTIONS:
GEH6000IL/GED6000IL
INSTALLATION AND OPERATING INSTRUCTIONS:
GEH6000IL/GED6000IL
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EN / 2021-07-28
DDOC00212 / 0
EN / 2021-07-22
DDOC00212 / 0
Zimmer GmbH
•
Am Glockenloch 2
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
www.zimmer-group.com
Zimmer GmbH
•
Am Glockenloch 2
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
www.zimmer-group.com
11.14
Operation modes/movement profiles – GEH6000IL-31-B/GED6000IL-31-B
The following sections explain and describe the available DeviceModes.
This section refers to the products with -31 in the parts number (products without self-locking mechanism).
11.14.1 DeviceModes GEH6000IL-31-B
DeviceMode
Remarks
5x
Positioning profiles
50
Positioning profile – standard
51
Positioning profile – high clock rate
6x
Force profiles – Outside gripping
62
Force profile – standard without self-locking mechanism
7x
Force profiles – Inside gripping
72
Force profile – standard without self-locking mechanism
8x
Pre-positioning – Force profiles – Outside gripping
82
Pre-positioning – Force profile without self-locking mechanism
9x
Pre-positioning – Force profiles – Inside gripping
92
Pre-positioning – Force profile without self-locking mechanism
11.14.2 Difference to GEH6000IL-03-B/GED6000IL-03-B:
This variant of the GEH6000IL series can exert only lower gripping forces due to the increased movement speeds of the
gripper jaws.
This variant does not have gripping force retention from an internal self-locking mechanism.
To maintain the gripping force, the motor is energized continuously during gripping. If the workpiece gets lost during
gripping, the gripping movement is continued to the target position.
11.14.3
Positioning profiles
The following modes can be used for
positioning the product or for form-fit gripping.
The movement speed is configured using the
DriveVelocity parameter.
The TeachPosition and ShiftPosition
parameters do not have any significance in this
mode because the BasePosition or WorkPo-
sition is always approached precisely.
If the product encounters an obstacle in this
mode while moving, it stops and issues an error
message.
The product can be moved from the obstacle
back to the starting position if the move
command is switched in the ControlWord.
No defined gripping forces can be generated
in this mode. Force-fit gripping is thus not
permitted.
Positioning (50, 51):
WorkPosition
Speed in %
DriveVelocity
BasePosition
Position in mm
PositionTolerance (PT) PT
PT
PT
50 – Positioning profile – Standard
Normal positioning mode, the move commands in the ControlWord trigger a movement in the corresponding direction at
DriveVelocity.
51 – Positioning profile – High clock rate
Behaves like mode 50, but when the gripping movement starts, the unlocking operation is omitted. This starts the
movement immediately and enables a shorter response time in the movement direction.
In doing so, ensure that no gripping force acts on the gripper jaws, as otherwise the movement can be stopped.
Group 50 – Positioning profiles
DeviceMode
Action
ControlWord
50
Position to BasePosition or WorkPosition.
0x0100/0x0200
51
Position without an unlocking operation to BasePosition or WorkPosition.
0x0100/0x0200
