18
DDOC00270 / f
EN / 2020-03-31
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
INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw angular grippers, electric/pneumatic, HRC-05 series
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
“DeviceMode" can be used to select the driving mode from the following options: universal operation, NC (Nor-
mally Closed) operation and NO (Normally Open) operation.
Input
Mode
Description
100
Universal mode
Inside and outside gripping, both movements at the
same speed.
60
Outside gripping
Inward with the desired gripping force and speed, out-
ward at high speed.
70
Inside gripping
Outward with the desired gripping force and speed,
inward at high speed.
Name
"DeviceMode"
Data format
UINT8
Permission
Write
Transfer
Cyclical
Value range
60, 70, 100
8.3.3 "WorkpieceNo" parameter
This workpiece number is used for selecting the previously stored workpiece data, as well as 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:
You can find an example of a code in the "Easy Startup" 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
