45
11.9.3.2
Force profiles group 70 – Inside gripping
In Mode Group 70, the product in the ForceProfile moves from the
BasePosition toward the WorkPosition onto the workpiece with
ControlWord 0x0100.
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, the product
moves on to the WorkPosition and is then braked. The product moves
behind the configured position before it turns around and comes to a
stop at the BasePosition. This enables secure gripping of workpieces up
to the BasePosition.
The ControlWord 0x0200 is used to open the product. The product is
moved automatically to the WorkPosition in the PositionProfile.
Mode Group 70 – typically used for inside gripping
DeviceMode
Action
ControlWord
72
Move toward the WorkPosition for opening the product.
0x0200
72
Move toward the BasePosition until this position or the workpiece is reached.
0x0100
Force profile 72 - Standard without self-locking mechanism
The product moves toward the workpiece. When the product grips the workpiece, the configured gripping force is built up
and maintained by the motor current.
INSTALLATION AND OPERATING INSTRUCTIONS:
GEH6000IL/GED6000IL
DDOC00212 / p
EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
