23
NOTICE
The product begins the braking process shortly before reaching the desired position in order to be able to
position itself exactly at the set WorkPosition and BasePosition.
Braking ahead of the target position can be deactivated using the following parameters in order ensure that full
gripping force is reached:
DeviceMode
Parameters for disabling the braking ramp
60, 63 (outside gripping)
WorkPosition = max. position, see "WorkPosition Parameter" section
70, 73 (inside gripping)
BasePosition = 0
Mode Group 60 – typically used for outside gripping
DeviceMode
Action
ControlWord
63
Move toward the WorkPosition until this position or the workpiece is reached.
0x0200
63
Move toward the BasePosition to open the product.
0x0100
Mode Group 70 – typically used for inside gripping
DeviceMode
Action
ControlWord
73
Move toward the BasePosition until this position or the workpiece is reached.
0x0100
73
Move toward the WorkPosition for opening the product.
0x0200
11.4.2.3
Current feed profile for a gripping process with DeviceMode 63, 73, 103
I
t
Move com-
mand
Workpiece grip-
ped
500 ms after a gripped workpiece
movement
standstill
subsequent current feed
workpiece loss detection
NOTICE
In case of workpiece loss, the product moves to the end position and outputs a message.
INSTALLATION AND OPERATING INSTRUCTIONS:
GEP2000IL-03
DDOC01219 / b
EN / 2021-12-20
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
