33
11.4.9 ShiftPosition
The ShiftPosition must always be larger than the BasePosition and smaller than the WorkPosition.
The product verifies this and, if necessary, displays an error message.
Name
ShiftPosition
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
0.75 to max. jaw stroke of the p 0.75 mm
11.4.10 TeachPosition
The TeachPosition defines the target position of the workpiece and its use is optional.
If the current position of the product within the tolerance range is around the TeachPosition, bit 9 is set in the Status.
The size of the tolerance range is defined with the parameter PositionTolerance.
This is entered at a scale of 1/100 mm (example: 1500 = 15 mm).
Name
TeachPosition
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
0.75 to max. jaw stroke of the p 0.75 mm
11.4.11 WorkPosition
The WorkPosition defines the maximum travel path of the product and has to be greater than the ShiftPosition.
If the current position of the gripper is within the tolerance range of the WorkPosition, bit 10 is set in the status.
In the PositionProfile, this position is precisely approached because the product is in positioning mode.
In DeviceMode 60 and 80, the product is stopped, starting from this position. The product moves past the WorkPosition. A
maximum of 2 mm, depending on the movement speed and gripper finger dimensions.
Name
WorkPosition
Data format
UINT16
Permission
Write
Transfer
Cyclical
Value range
0.75 to max. jaw stroke of the p 0.75 mm
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
