16
10.2.5 IO assignment for connected gripper (single mode)
Advanced
and
Basic
designate different classes of grippers at Zimmer GmbH.
Port 1 - Advanced_Gripping
Port 1 - Basic_Gripping
IO module pin
Function
Advanced_Gripping
Basic_Gripping
pin Digital input X4
1
Input 1
Cmd_Release
Cmd_Release
2
Input 2
Cmd_Grasp
Cmd_Grasp
3
Input 3
Cmd_Reset
Cmd_Reset
4
Input 4
Cmd_MotorOn/Cmd_MotorOff
-
5
Input 5
Cmd_Homing
-
6
Input 6
-
-
pin Digital input X5
7
Input 7
-
-
8
Input 8
-
-
9
Input 9
Cmd_WP_Bit0
Cmd_WP_Bit0
10
Input 10
Cmd_WP_Bit1
Cmd_WP_Bit1
11
Input 11
Cmd_WP_Bit2
Cmd_WP_Bit2
12
Input 12
Cmd_WP_Bit3
Cmd_WP_Bit3
pin Digital output X6
1
Output 1
IsReleased
IsReleased
2
Output 2
IsGrasped
IsGrasped
3
Output 3
IsClosed
IsClosed
4
Output 4
OnUndefinedPos
OnUndefinedPos
5
Output 5
Error
Error
6
Output 6
MotorOn
-
pin Digital output X7
7
Output 7
HomingOk
-
8
Output 8
-
-
9
Output 9
Act_WP_Bit0
Act_WP_Bit0
10
Output 10
Act_WP_Bit1
Act_WP_Bit1
11
Output 11
Act_WP_Bit2
Act_WP_Bit2
12
Output 12
Act_WP_Bit3
Act_WP_Bit3
Zimmer GmbH • Im Salmenkopf 5 •
77866 Rheinau, Germany •
+49 7844 9138 0 • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:
SCM
DDOC00734 / e
EN / 2023-07-03
