INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, hybrid, HRC-04 series
20
DDOC00269 / d
EN / 3/31/2020
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
Bit 7: „Adjust“
►
If no other bit is set in the control word, the „AdjustBit“ can be used to execute a readjustment of
the end positions of the jaw.
Bit 8: „MoveToBase“
►
Setting this bit communicates to the gripper that it should move towards the „BasePosition“.
Bit 9: „MoveToWork“
►
Setting this bit communicates to the gripper that it should move towards the „WorkPosition“.
Bit 15: “ErrorReset”
►
This bit can be used to acknowledge all errors that can be reset and thus reset them.
► You can find out whether an error is present from the error list.
INFORMATION:
For further information, please refer to the „Error diagnosis“ section.
8.3.2 „DeviceMode“ parameter
The „DeviceMode“ can be used to select one of the following travel mode options: universal operation, outside
gripping and inside gripping.
Input
Mode
Description
100
Universal mode
Inside and outside gripping, both movements at the
same speed.
Name
"DeviceMode"
Data format
UINT8
Permission
Write
Transfer
Cyclical
Value range
100
8.3.3 „WorkpieceNo“ parameter
This workpiece number is used for selecting the previously stored workpiece data and also for selecting the
„WorkpieceNo“ data record in which the current process data is stored.
This „WorkpieceNo“ data set enables individual workpieces to be taught-in to the gripper very quickly.
INFORMATION:
An example of a code can be found in the „Quickstart Basic Parameters“ section (recipe examples).
Ö
“Store recipe“ and „Load recipe“
The corresponding workpiece recipe is loaded in the gripper with a value > 0.
Name
"WorkpieceNo"
Data format
UINT8
Permission
Write
Transfer
Cyclical
Value range
0 to 32
