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
11.13.2
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, the movement stops.
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 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
11.13.3
Force profiles
The following modes can be used for force-fit
gripping of workpieces.
The gripping force is built up by the movement
speed of the gripper jaws and the motor
current. To do this, the product calculates
the required movement speed (GripVelocity)
automatically from the GripForce parameter.
When gripping a workpiece, an independent
mechanical locking system in the mechanical
system is reached that makes it possible to
hold the workpiece de-energized. To disengage
from this reliably, this requires a special
unlocking procedure. For opening, a movement
automatically takes place toward the standby
position at DriveVelocity. To do this, the product
switches into positioning mode automatically.
The graphic applies to Mode Group 60 and
thus shows outside gripping.
For Mode Group 70, exchange the BasePo-
sition and the WorkPosition.
Gripping (in the direction of WorkPosition):
WorkPosition
Speed in %
GripVelocity
(calculated)
BasePosition
Position in mm
PositionTolerance (PT) PT
PT
PT
PT
PT
TeachPosition
Open:
WorkPosition
Speed in %
DriveVelocity
BasePosition
Position in mm
PositionTolerance (PT) PT
PT
PT
Parameter
Description
BasePosition
Open position
WorkPosition
Closed position – behind the workpiece
GripForce
Desired gripping force
TeachPosition
Expected position of the workpiece
PositionTolerance
Permitted tolerance for the position window
DriveVelocity
Opening speed
ShiftPosition
Not used
The movement profile determines the direction in which the workpiece is gripped:
•
For outside gripping, the movement profile group 60 is used.
•
For inside gripping, the movement profile group 70 is used.
