20
DDOC00270 / f
EN / 2020-03-31
Zimmer GmbH
●
Im Salmenkopf 5
●
77866 Rheinau, Germany
●
+49 7844 9138 0
●
+49 7844 9138 80
●
www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw angular grippers, electric/pneumatic, HRC-05 series
8.3.5 "TeachPosition" parameter
“TeachPosition” is used to tell the gripper at which position the workpiece is expected. The “PositionTolerance”
functions around this position. Thus the gripper can distinguish whether a correct or incorrect workpiece has
been gripped. Confirmation that the correct workpiece has been gripped is communicated to the control sys
-
tem via the “StatusWord” parameter. If the detection is correct, the "Teach" bit is set, thereby giving the user the
option to monitor this work step.
By means of the position measuring system, it is possible to achieve a "TeachPosition" accuracy of +/- 0.05 mm.
The following values are to be used:
Product
"BasePosition"
"WorkPosition"
"TeachPosition"
HRC-05-xxx
0
2000
0 to 2000
Name
"TeachPosition"
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
0 to max. jaw stroke of the gripper
8.3.6 "StatusWord" parameter
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
Byte 1
"Error"
"Control-
Word"
0x200
"Control-
Word"
0x100
"DataTrans-
ferOK"
“Undefined
-
Position”
"WorkPosi-
tion"
"TeachPosi-
tion"
"BasePosi-
tion"
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Byte 0
-
“Gripper-
PLC active” -
-
-
-
-
-
Bit 6: "GripperPLCActive"
►
Active as soon as the gripper has booted up after the cold boot.
►
This bit can be used to verify a "byte swap".
Bit 8: "BasePosition"
►
Active if the gripper is set to "BasePosition".
Bit 9: "TeachPosition"
►
Active if the gripper is set to "TeachPosition".
Bit 10: "WorkPosition"
►
Active if the gripper is set to "WorkPosition".
Bit 11: “UndefinedPosition”
►
Active if the gripper is not set to any taught-in position.
Bit 12: "DataTransferOK"
►
This bit signals the successful data transfer, which is initiated with the “ControlWord” = 1 (Data-
Transfer).
►
Once the data from the gripper has been taken over by the parameter “ControlWord” = 1 (deci-
mal), this bit is active.
Bit 13: “ControlWord 0x100”
►
This bit is a direction flag and is active when the previous movement order was in the direction of
the "BasePosition."
Bit 14: “ControlWord 0x200”
►
This bit is a direction flag and is active when the previous movement order was in the direction of
the "WorkPosition."
