INSTALLATION AND OPERATING INSTRUCTIONS:
Gripper, pneumatically intelligent, GPP/GPD5000-IL series
25
Zimmer GmbH
●
Im Salmenkopf 5
●
77866 Rheinau, Germany
●
+49 7844 9138 0
●
+49 7844 9138 80
●
www.zimmer-group.com
DDOC00247 / d
EN / 2020-07-20
8.3.3 "WorkpieceNo" parameter
This workpiece number is used for selecting the previously stored workpiece data, as well as for selecting the "Workpiece-
No" data record in which the current process data is stored.
The current process data "TeachPosition," "DeviceMode," "PositionTolerance" and the specified gripping force can be
stored by setting bit 2 "Store process data in workpiece data." This "WorkpieceNo" data set enables individual workpieces
to be taught-in to the gripper very quickly.
INFORMATION:
Example:
To use the data stored in workpiece record 3 ("PositionTolerance," "TeachPosition," "GripForce" and "Device-
Mode"), a 3 (WorkpieceNo. = 3) must be transmitted in the workpiece number of the process data.
Name
"WorkpieceNo"
Data format
UINT8
Permission
Write
Transfer
Cyclical
Value range
0 to 32
Index
Name
Data
format
Access
right
Values
Description
0x800
to
0x81F
(2048 to
2079)
Workpiece number
record 1 to 32
-
-
1 to 32
Each main index (0x800 to
0x81F) contains the four subin-
dexes listed below (0x01 to 0x05)
Subin-
dex
1
"DeviceMode"
UINT8
Read
100 = Universal operation (in-
ward or outward gripping, both
movements at the same speed)
109 = Ignore position error
2
"TeachPosition"
UINT16
Read
0 to full stroke of the gripper in
"mm x 100."
This value can be used to change
the workpiece position via the
cyclical data.
Example:
"TeachPosition" = 2010 corre-
sponds to a stroke of 20.10 mm
3
Tolerance of the
"TeachPosition"
UINT8
Read
This variable is used to config
-
ure the position tolerance with a
resolution of 0.01 mm.
Thus the value range of 0 to 255
can be used to set a maximum
tolerance of 2.55 mm in both
directions.
This value can be used to define
a tolerance for the set "TeachPo-
sition."
