30
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.
Mode Group 82 – typically used for outside gripping
DeviceMode
Action
ControlWord
82
Move with v = DriveVelocity to the ShiftPosition and then with GripForce until the
workpiece or the WorkPosition is reached.
0x0200
82
Move toward the BasePosition to open the product.
0x0100
Mode Group 92 – typically used for inside gripping
DeviceMode
Action
ControlWord
92
Move with v = DriveVelocity to the ShiftPosition and then with GripForce until the
workpiece or the BasePosition is reached.
0x0100
92
Move toward the WorkPosition for opening the product.
0x0200
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
