40
11.7.4 DeviceMode 17
WARNING
Risk of injury due to increased force of the product during homing
The product force during the reference run is very high with the new DeviceMode.
►
Make sure that an external end stop is installed in the machine or system into which the product is being
installed.
Ö
If the internal end stop of the product is used, this will result in higher wear.
►
Set the DriveVelocity to a low value before starting homing.
• Recommendation: DriveVelocity
10
►
Increase the value if a higher force is required for homing.
►
Assign DeviceMode 3.
►
Transmit this value to the product with ControlWord 1.
Ö
The motor is switched on.
►
Transmit the following values.
Parameter
Value
Unit
DeviceMode
17
-
WorkpieceNo
0
-
PositionTolerance
50
0.01 mm
DriveVelocity
10
%
BasePosition
100
0.01 mm
WorkPosition
4000
0.01 mm
►
Transmit the parameters to the product with a handshake.
•
ControlWord 1
• WorkPosition must not be greater than 75.
Ö
The gripper jaws move inward until they are stopped by an external end stop or the maximum jaw position.
Ö
The product takes over the WorkPosition value as the new ActualPosition.
Ö
For example, this would be the new ActualPosition
4000
(see table).
Ö
After homing, the motor is switched off.
►
Switch the motor on using DeviceMode 3 and the handshake.
►
Change the movement profile.
►
Start the operation.
Ö
The product responds with DiagnosisWord 0x0000.
Ö
The product is ready.
WARNING
Product jamming and damage
Since the ActualPosition in this DeviceMode has an offset, the product does not know the position of the internal
end stop.
Ö
This makes it possible to move against the internal end stop at high speed, which can result in jamming of and
damage to the product.
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
