INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw angular grippers, electric/pneumatic, HRC-05 series
21
DDOC00270 / f
EN / 2020-03-31
Zimmer GmbH
●
Im Salmenkopf 5
●
77866 Rheinau, Germany
●
+49 7844 9138 0
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+49 7844 9138 80
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www.zimmer-group.com
Bit 15: "Error"
►
Error in the gripper.
►
If this bit is active, the error message can be determined using the "Diagnosis" parameter.
The following steps are required for the "fault acknowledgment":
If the gripper has a fault, the error bit is set in the status word.
This fault can be reset by sending
“ControlWord” = 0x8000
.
NOTICE:
Not all faults can be reset. There are faults for which the error message is not reset after acknowledg-
ment. The user must wait until the correct values are sent to the gripper. For example: Overheating fault
case.
INFORMATION:
It is advisable to use the “StatusWord” to verify correct gripping!
The "TeachPosition" tolerance can be adjusted in another process parameter.
For sensing the correct position via the ACTUAL position, the tolerances and fluctuations of the value
must be observed during programming!
Name
"StatusWord"
Data format
UINT16
Permission
Read
Transfer
Cyclical
Value range
0 to 65535
8.3.7 "Diagnosis" parameter
The value returned in the "Diagnosis" parameter corresponds to the error code.
Ö
Refer to the “Error diagnosis” section
Name
"Diagnosis"
Data format
UINT16
Permission
Read
Transfer
Cyclical
Value range
0 to 65535
