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12.4.7.1 Acknowledging an error
If the product has a fault, the error bit is set in the status word.
►
Acknowledge the error by sending ControlWord 0x8000.
NOTICE
Not all errors can be reset. For some errors, the error message is not reset after acknowledgment.
In this case, wait until correct values are sent to the product.
Example: Overheating error
INFORMATION
►
Use StatusWord to verify correct gripping.
►
The TeachPosition tolerance can be adjusted in another process parameter.
►
For sensing the correct position via the ACTUAL position, the tolerances and fluctuations of the value must be
observed during programming.
12.4.8 Diagnosis
The value returned in Diagnosis corresponds to the error code (see "Error Diagnosis" section).
Name
Diagnosis
Data format
UINT16
Permission
Read
Transfer
Cyclical
Value range
0 ... 65535
12.4.9 ActualPosition
ActualPosition corresponds to the current position of the gripper jaws relative to the full stroke.
The value is specified with a resolution of 0.01 mm.
The values can move between the BasePosition (minimum values) and the WorkPosition (maximum values).
Product
BasePosition
WorkPosition
TeachPosition
Accuracy [mm]
GEP2006IL
0
1200
0 to max. 1200
± 0.05
GEP2010IL
0
2000
0 to max. 2000
± 0.05
GEP2013IL
0
2600
0 to max. 2600
± 0.1
GEP2016IL
0
3200
0 to max. 3200
± 0.1
Name
ActualPosition
Data format
UINT16
Permission
Read
Transfer
Cyclical
Value range
0 to max. jaw stroke of the product
INFORMATION
►
Use the StatusWord of the product to check whether a workpiece has been gripped correctly.
• The position measurement resolution is 0.01 mm.
• The accuracy of the position measurement depends on the installation size.
►
During commissioning, be aware of fluctuations around the exact value if you use the ActualPosition
parameter to detect the workpiece.
INSTALLATION AND OPERATING INSTRUCTIONS:
GEP2000
DDOC01113 / c
EN / 2022-11-16
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
