Zimmer GmbH
•
Im Salmenkopf 5
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
+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
8.3.7 "BasePosition" parameter
The "BasePosition" defines the target position in the "MoveToBase" direction. It must always be less than the "WorkPo
-
sition."
The gripper verifies this and, if necessary, indicates an error message.
If the current position of the gripper within the tolerance window is in the vicinity of the "BasePosition," bit 8 is set in the
"StatusWord."
Name
"BasePosition"
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
0 to "WorkPosition"
8.3.8 "TeachPosition" parameter
"TeachPosition" is used to tell the gripper at which position the workpiece is expected. The "PositionTolerance" functions
around this position. Thus the gripper can distinguish whether a correct or incorrect workpiece has been gripped. Confir
-
mation that the correct workpiece has been gripped is communicated to the control system via the "StatusWord" parameter.
If the detection is correct, the "Teach" bit is set, thereby giving the user the option to monitor this work step.
The following values are to be used:
Product
"BasePosition"
"WorkPosition"
"TeachPosition"
GEP2006IL-03
0
1200
0 to max. 1200
GEP2010IL-03
0
2000
0 to max. 2000
GEP2013IL-03
0
2600
0 to max. 2600
GEP2016IL-03
0
3200
0 to max. 3200
Name
"TeachPosition"
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
0 to max. jaw stroke of the gripper
8.3.9 “WorkPosition" parameter
The "WorkPosition" defines the target position in the
"MoveToWork", direction. It must always be greater than the "BasePo-
sition."
Name
"WorkPosition"
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
BasePosition to max. jaw stroke of the gripper
