28
11.4.3.4
PrePosition-ForceProfile LWR50L-21
DriveVelocity
BasePosition
0 point
WorkPosition
TeachPosition
PositionTolerance
ShiftPosition
GripForce
This mode is an extension of the ForceProfile. This means that a typically quick prepositioning process occurs until the
ShiftPosition is reached.
When it reaches the ShiftPosition, the product switches over to the ForceProfile without stopping the motor. Therefore, the
BasePosition, ShiftPosition and WorkPosition have to be defined for ForceProfile.
The DriveVelocity and GripForce parameters also have to be configured.
Here, the TeachPosition also defines the workpiece position with adjustable tolerance.
Just as in the ForceProfile, the product moves away from the workpiece using the PositionProfile at the speed specified with
the DriveVelocity parameter.
In this mode, the tolerance range is also configured in the respective Mode Groups 80 and 90 or 85 and 95. The gripper
switches off the motor after reaching the workpiece for the Mode Groups 80 and 90. This means that at that point, the
gripping force is retained by means of the self-locking mechanism.
In Mode Groups 85 and 95, the product attempts to constantly apply light holding pressure. The product readjusts its
position automatically if, for instance, the workpiece was clamped incorrectly and released itself.
Mode Group 80 – typically used for outside gripping
DeviceMode
Action
ControlWord
80
Move with v = DriveVelocity to the ShiftPosition and then with GripForce until the
workpiece or the WorkPosition is reached.
0x0200
80
Move toward the BasePosition to open the product.
0x0100
81
Move with v = DriveVelocity to the ShiftPosition and then with GripForce until the
workpiece or the WorkPosition is reached.
Special movement profile for faster movement of the product. In the open
position, the product must not be jammed, i.e. it must neither be stopped at the
end stop nor have gripped a workpiece.
0x0200
81
Move toward the BasePosition to open the product.
0x0100
INSTALLATION AND OPERATING INSTRUCTIONS:
LWR50L-21/LWR50L-22
DDOC01071 / b
EN / 2021-11-25
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
