Zimmer - HCR03

Modbus Address

It selects the predefined Modbus address. The IP address and name configured by the user for the Modbus slave equipment are displayed. To add new items, go to Setting > Network > Predefined Modbus menu, and configure.

Connect

Equipment is connected to the selected Modbus address, and buttons used to test gripper motion are activated.

Initialize

This performs gripper reset.

Teaching Pose

The gripper position when the corresponding workpiece is grasped. It can be configured from a minimum of 0.00 mm to a maximum of 20.00 mm.

Tolerance

This is the teaching pose tolerance deviation. It can be configured from a minimum of 0.00 mm to a maximum of 2.55 mm.

Force

This is the force the gripper applies to grasp an item. It can be configured from Lv1 up to Lv4.

Device Mode

This is the pose when the gripper grasps an item. Select one from inward, outward and universal.

Actual Position

It is the area displaying the current position measured through the gripper’s grasp/release motion tests.

Add New Workpiece

A new workpiece can be added. Up to 32 workpieces can be added.

Gripper Status

This is the input signal for the gripper’s status code. The following are the meanings of each status code.

0x06: Gripper PLC Active, 0x08: Base Position, 0x09: Teach Position, 0x0a: Work Position, 0x0b: Undefined Position, 0x0c: Data transfer ok, 0x0d: ControlWord 0x100, 0x0e: ControlWord 0x200, 0x0f: Error

Diagnosis

This is the input signal for the gripper’s diagnosis code.