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
11.14.4
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.
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 80 and
thus shows outside gripping.
For Mode Group 90, 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
DeviceMode
Action
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
Since gripping should occur in one direction only, the positioning mode is used automatically in the opposite direction.
To do this, the product switches into positioning mode automatically when moving in the opening direction.
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.
11.14.4.1
Group 60 Force profile – outside gripping
In movement profile group 60, the product moves in the ForceProfile
from the BasePosition toward the WorkPosition onto the workpiece using
the ControlWord command 0x0200.
When the workpiece is gripped, the configured gripping force is built up
and maintained by the motor current.
If no workpiece is gripped during the gripping process, a movement to
WorkPosition is carried out and braking starts at this position. As a result,
the product moves slightly behind the configured position before it turns
around and comes to a stop at the WorkPosition. This enables secure
gripping of workpieces up to the WorkPosition.
For opening, the ControlWord command 0x0100 is written, then the
product moves away from the workpiece to the BasePosition in the Positi-
onProfile without the need for any prompts from the operator. Here, the
product moves at the speed set in the DriveVelocity parameter.
62 – Force profile – standard without self-locking mechanism
When starting from the BasePosition, an unlocking operation is run for releasing. Only then does the product start moving
toward the workpiece. When the workpiece is gripped, the configured gripping force is built up and maintained by the
motor current.
Group 60 – Outside gripping
DeviceMode
Action
ControlWord
62
Move toward the BasePosition for opening the product.
0x0100
62
Move toward the WorkPosition until this position or the workpiece is reached.
0x0200
