Zimmer GmbH
•
Im Salmenkopf 5
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
+49 7844 9138 80
•
www.zimmer-group.com
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INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, GEP2000IL-03 series
EN / 2021-03-04
DDOC01219 / 0
8.3.2 "DeviceMode" parameter
"DeviceMode" is used to select one of the following travel mode options: universal operation, outside gripping or inside
gripping.
INFORMATION
For operation of the product, Zimmer GmbH recommends "DeviceMode" 63, 73 and 103.
Input
Mode
Description
63
Outside gripping with
subsequent current feed
Like Mode 60, but with an activated subsequent current feed for a
time of 500 ms when the direction of movement is "Work."
To achieve the best gripping results, the gripped workpiece
should be transported further
during the time of the subsequent current feed.
73
Inside gripping with
subsequent current feed
Like Mode 70, but with an activated subsequent current feed for a
time of 500 ms when the direction of movement is "Base."
To achieve the best gripping results, the gripped workpiece
should be transported further
during the time of the subsequent current feed.
103
Universal operation with
subsequent current feed
Like Mode 100, but with an activated subsequent current feed for
a time of 500 ms in both directions.
To achieve the best gripping results, the gripped workpiece
should be transported further
during the time of the subsequent current feed.
11
Enable jog mode
In Mode 11, the gripper is in jog mode and moves slowly in the
selected direction as long as the respective bit is active in the
ControlWord.
50
Positioning mode
The gripper moves into the "PositionProfile" using this mode.
The movement speed is configured using the "DriveVelocity"
parameter.
60
Outside gripping
Inward with the desired gripping force and speed, outward at high
speed.
70
Inside gripping
Outward with the desired gripping force and speed, inward at high
speed.
100
Universal mode
Inside and outside gripping, both movements at the same speed.
Name
"DeviceMode"
Data format
UINT8
Permission
Write
Transfer
Cyclical
Value range
11, 50, 60, 63, 70, 73, 100, 103
