Zimmer GmbH
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Im Salmenkopf 5
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77866 Rheinau, Germany
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+49 7844 9138 0
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+49 7844 9138 80
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www.zimmer-group.com
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INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, GEP2000IL-03 series
EN / 2021-06-25
DDOC01219 / a
8.3.2.2
"forceprofile" movement profile
This mode can be used for friction-locked gripping.
The gripping force is built up by the movement speed of the jaws and the motor current. 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.
GripForce [%]
BasePosition [1/100 mm]
0-Point
WorkPosition [1/100 mm]
TeachPosition
PositionTolerance
Parameters
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 workpiece
DriveVelocity
Opening speed
Since gripping should occur in one direction only, the positioning mode is used automatically in the opposite direction. To
do this, the gripper switches into positioning mode independently when moving in the opening direction.
The movement profile determines the direction in which the workpiece is gripped:
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For outside gripping, the movement profile group "60" is used.
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For inside gripping, the movement profile group "70" is used.
