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
The following steps are required for the "fault acknowledgment":
• If the gripper has a malfunction, the error bit is set in the status word.
• This malfunction can be reset by sending
"ControlWord" = 0x8000
.
NOTICE
Not all faults can be reset. There are faults for which the error message is not reset after acknowledgment. The
user must check whether valid process data is being sent to the gripper. Some faults are self-acknowledging,
such as the overheating fault.
INFORMATION
We recommend using the "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.
Name
"StatusWord"
Data format
UINT16
Permission
Read
Transfer
Cyclical
Value range
0 to 65535
8.3.11 "Diagnosis" parameter
The value returned in the "Diagnosis" parameter corresponds to the error code (see "Troubleshooting" section).
Name
"Diagnosis"
Data format
UINT16
Permission
Read
Transfer
Cyclical
Value range
0 to 65535
