Zimmer HRC-01 Series User manual

INSTALLATION AND
OPERATING INSTRUC-
TIONS
HRC-01/-02 series
Gripper, electric
DDOC00416
THE KNOW-HOW FACTORY
www.zimmer-group.com

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
Parameter explanation (glossary)
Parameter Explanation
ControlWord
The "ControlWord" is used to control the gripper.
The "ControlWord" is bit-exclusive, which means that only one bit at a time can be
active in the "Word." The value "ZERO" is also permitted.
DeviceMode The "DeviceMode" is used to select gripping proles as well as the additional help
modes in the gripper.
Workpiece No. You can use this parameter to select or save the workpiece recipes stored in the
gripper.
TeachPosition The "TeachPosition" is the actual workpiece position.
WorkPosition The "WorkPosition" is the inner jaw position on the gripper. Depending on the applica-
tion, for example with internal grippers, this can also be the standby position.
GripForce The "GripForce" parameter is used to congure the gripping force.
PositionTolerance This is the tolerance window for the "TeachPosition", "BasePosition" and "WorkPosi-
tion." The value of the parameter acts in both directions.
BasePosition The "BasePosition" is the outer "JawPosition." Depending on the gripper prole, this
can also be a work position!
ShiftPosition The "ShiftPosition" is a switching position between pre-positioning and gripper move-
ment.
StatusWord In its bits, the "StatusWord" returns the most important information about the status of
the gripper to the control.
Diagnosis If an error should occur, the "Diagnosis" outputs a diagnostic code that can be com-
pared with the error list.
ActualPosition The value of the current position of the gripper [1/100 mm].
Error Fault, error message
DIR Direction/24 V cable connection - Depending on the gripper, this signal is used to
move the gripper.
Teach/Adjust
Program/Congure
This signal is used to teach in the current position of the gripper jaws as the new
workpiece position according to the gripper type. "Adjust" is used as a command to
dene the reachable end positions of the gripper jaws.
GND Abbreviation for ground connection
Offset Correction value
Traversing routine Dened procedure for movement of the gripper jaws
Travel path Distance that the gripper jaws travel

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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Contents
1. Supporting documents.......................................................................................................................................................5
2. Safety notes .........................................................................................................................................................................5
3. Proper use............................................................................................................................................................................6
4. Personnel qualication .......................................................................................................................................................6
5. Product description.............................................................................................................................................................6
5.1 Possible applications........................................................................................................................................................................................6
5.2 Forces and torques...........................................................................................................................................................................................6
5.3 Type plate .........................................................................................................................................................................................................7
5.4 Criteria for use in collaborative applications .................................................................................................................................................. 7
6. Function ...............................................................................................................................................................................8
6.1 Electrical specications....................................................................................................................................................................................9
6.2 LED display......................................................................................................................................................................................................10
6.3 Veried conguration......................................................................................................................................................................................10
6.4 Protection classes...........................................................................................................................................................................................10
6.5 Technical data .................................................................................................................................................................................................10
7. Installation..........................................................................................................................................................................11
7.1 Safety notes.....................................................................................................................................................................................................11
7.2 General installation information .....................................................................................................................................................................11
7.3 Installing the mechanical system ..................................................................................................................................................................11
7.4 Installing the power supply.............................................................................................................................................................................12
7.4.1 Installing the wiring .........................................................................................................................................................................................12
7.4.2 Installing the “IO-Link” ....................................................................................................................................................................................13
7.5 Static charge ...................................................................................................................................................................................................13
7.6 Heat dissipation...............................................................................................................................................................................................13
7.7 Installing accessories .....................................................................................................................................................................................13
8. Commissioning..................................................................................................................................................................14
8.1 Commissioning the IO-Link ............................................................................................................................................................................14
8.1.1 Process data....................................................................................................................................................................................................14
8.1.2 IODD import ....................................................................................................................................................................................................15
8.2 “Handshake” data transfer method...............................................................................................................................................................15
8.3 Parameter ........................................................................................................................................................................................................16
8.3.1 “ControlWord” parameter...............................................................................................................................................................................16
8.3.2 “DeviceMode” parameter...............................................................................................................................................................................17
8.3.3 Movement proles ..........................................................................................................................................................................................18
8.3.4 “WorkpieceNo” parameter.............................................................................................................................................................................21
8.3.5 “PositionTolerance” parameter ......................................................................................................................................................................21
8.3.6 “GripForce” parameter ...................................................................................................................................................................................22
8.3.7 “DriveVelocity” parameter ..............................................................................................................................................................................22
8.3.8 “BasePosition” parameter..............................................................................................................................................................................22
8.3.9 “ShiftPosition” parameter...............................................................................................................................................................................23
8.3.10 “TeachPosition” parameter ............................................................................................................................................................................23
8.3.11 “WorkPosition” parameter..............................................................................................................................................................................23
8.3.12 “StatusWord” parameter ................................................................................................................................................................................24
8.3.13 “Diagnosis” parameter ...................................................................................................................................................................................25
8.3.14 “ActualPosition” parameter ............................................................................................................................................................................25
8.4 “Cold boot”......................................................................................................................................................................................................26
8.5 Minimum travel path .......................................................................................................................................................................................26
8.6 Referencing by “Homing” .............................................................................................................................................................................26
8.6.1 “DeviceMode” 10............................................................................................................................................................................................27
8.6.2 “DeviceMode” 14............................................................................................................................................................................................27
8.6.3 “DeviceMode” 16............................................................................................................................................................................................28
8.6.4 “DeviceMode” 17............................................................................................................................................................................................29
8.7 Interruption of the power supply....................................................................................................................................................................30

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
8.8 “Easy Startup”.................................................................................................................................................................................................30
8.9 Start of data transmission ..............................................................................................................................................................................30
8.10 “Quickstart” basic parameters.......................................................................................................................................................................31
8.11 Starting gripping movement ..........................................................................................................................................................................32
8.12 Repeated movements in the same direction ................................................................................................................................................32
8.13 Recipe examples.............................................................................................................................................................................................33
8.13.1 “Store recipe” ..................................................................................................................................................................................................33
8.13.2 “Load recipe” ..................................................................................................................................................................................................34
9. Operation ...........................................................................................................................................................................35
9.1 HRC-02 emergency release ...........................................................................................................................................................................35
10.Gripping force charts ........................................................................................................................................................36
11.Error diagnosis ..................................................................................................................................................................36
12.Table with acyclic data (ISDU)..........................................................................................................................................38
13.Maintenance ......................................................................................................................................................................39
13.1 Maintenance interval.......................................................................................................................................................................................39
13.2 Replacing the safety fuse ...............................................................................................................................................................................40
14.Accessories/scope of delivery.........................................................................................................................................41
15.Transportation/storage/preservation ..............................................................................................................................41
16.Decommissioning and disposal.......................................................................................................................................41
17.RoHS declaration ..............................................................................................................................................................42
18.REACH declaration ...........................................................................................................................................................42
19.Declaration of Incorporation.............................................................................................................................................43
20.Declaration of Conformity.................................................................................................................................................44

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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1. Supporting documents
NOTICE:
Read through the installation and operating instructions carefully before installing the product!
The installation and operating instructions contain important notes for your personal safety. They must
be read and understood by all persons who work with or handle the product during any phase of the
product life time.
The documents listed below are available for download on our website (www.zimmer-group.com).
Only those documents currently available on the website are valid.
• Catalogs, drawings, CAD data, performance data
• Information on accessories
• Detailed installation and operating instructions
• Technical data sheets
• General Terms and Conditions of Business, including warranty information
2. Safety notes
CAUTION:
Non-compliance may result in severe injuries!
1. Installation, commissioning, maintenance and repairs may only be performed by qualied specialists in
accordance with these installation and operating instructions.
2. The gripper is state-of-the-art. It is tted to industrial machines and is used to hold workpieces. The fol-
lowing are examples of situations in which the gripper may pose a hazard:
• The gripper is not properly installed, used or maintained.
• The gripper is not used for its intended purpose.
• Local regulations (legislation, ordinances, guidelines), such as the EC Machinery Directive, acci-
dent prevention regulations and the installation and operating instructions, are not observed.
3. The gripper may be used only in accordance with its proper use and technical data. Zimmer GmbH shall
accept no liability for any damage caused by improper use.
4. Any use other than the intended use requires written approval from Zimmer GmbH.
5. Make sure that the power cables are disconnected before you install, modify, maintain or repair the grip-
per.
6. In case of maintenance, modication or attachment work, remove the gripper from the machine and
perform the work outside the danger zone.
7. When commissioning or testing, make sure that the gripper cannot be activated by mistake.
8. Modications to the gripper, such as adding drilled holes or threads, may be made only with prior ap-
proval from Zimmer GmbH.
9. The specied maintenance intervals are to be observed; also refer to the “Maintenance” section. When
the gripper is used under extreme conditions, the maintenance interval must be adapted depending
on the extent of the contamination. Please contact our hotline for this purpose.
10.Use of the gripper under extreme conditions, such as aggressive liquids and abrasive dusts, is subject to
prior approval from Zimmer GmbH.
11.The suitability of the gripper for collaborative use can only be veried while using gripper ngers installed
in factory condition. If different gripper jaws are used or if the original gripper jaws are modied,
compliance with the maximum force and pressure values permitted for collaborative operation must
be veried once again.
12.Do not reach into the operational range of the gripper!

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
3. Proper use
NOTICE:
The gripper is to be used only in its original state with its original accessories, without any unauthorized
changes and within the scope of its dened parameters of use.
Zimmer GmbH shall accept no liability for any damage caused by improper use.
Use outside of the dened parameters is not permitted. Unauthorized electrical or mechanical modications must not
be made.
The gripper is designed exclusively for electric operation using a supply voltage of 24 V DC.
The gripper is designated for use in enclosed rooms for temporarily gripping, handling and holding parts.
The gripper is not suitable for clamping workpieces during a machining process.
Direct contact with perishable goods/food is not permitted.
4. Personnel qualication
Installation, commissioning and maintenance may only be performed by specialists. These personnel must have read
and understood the installation and operating instructions in full.
5. Product description
NOTICE:
To ensure that the gripper jaws do not get deformed, care must be taken to ensure that the conguration
of the gripping force and the selection of the gripper nger length is correct.
An incorrect conguration or selection can lead to malfunction.
CAUTION:
Reduction of gripping force
Reduce the gripping force of the gripper when gripping exible components.
A reduced gripping force can lead to material damage or injury to personnel because the components
that are being gripped can no longer be securely gripped and transported.
5.1 Possible applications
Inside gripping:
The gripper can be used for inside
gripping.
Outside gripping:
The gripper can be used for outside
gripping.
5.2 Forces and torques
INFORMATION:
For information on forces and torques, please visit our website.
Zimmer Customer Service is available to provide you with assistance if you have any further questions.
Inside grippingOutside gripping

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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5.3 Type plate
Depending on the installation size of the gripper, there is a type
plate a󹱺xed to the housing or the type plate information is la-
ser-etched onto the housing.
The serial number and the article number are shown on this type
plate.
►The serial number ensures that the unit has an unambiguous,
continuous classication in the event of an update or an over-
haul.
ÖExample:
• Serial number: 01-12345678
INFORMATION:
Please state the conrmation number in the event of damage or a complaint.
Zimmer Customer Service is available to provide you with assistance if you have any further questions.
5.4 Criteria for use in collaborative applications
The criteria listed below are the basis for the suitability of the grip-
per for use in collaborative applications:
ÖSee adjacent illustration, gure 3and 4.
• The gripper has been designed in accordance with the speci-
cations of ISO/TS 15066.
• The power of the motor in combination with the transmission
design and the pre-assembled gripper jaws is not su󹱺cient to
generate a gripping force of > 140 N upon vulnerable areas of
the body. The gripping forces generated when gripping soft
objects are signicantly reduced since the amount of dynamic
force is lowered. Compliance with the maximum permitted
gripping force has been veried using a suitable measuring
instrument.
• The gripper is engineered to be inherently safe and is de-
signed with rounded edges and shapes that prevent crushing
and shearing points from being created.
3 4
1 2

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
6. Function
The torque generated by the electric motor is transformed via a drive to the gripper jaws. This causes the gripper jaws
to move and increases the gripping force.
• Simple data exchange with superordinate control system via IO-Link
• Brushless DC servomotor with absolute encoder system
• The gripper jaws run on parallel guide rails arranged side by side
• The gripper jaws are mechanically coupled to each other
• The gripper is equipped with a safety fuse that interrupts the power supply to the motor in the event of overcurrent,
thereby preventing the permitted gripping force of 140 N from being exceeded.
Fig. 1: HRC-02 series gripper “from above”
Fig. 2: HRC-02 series gripper “from below”
1IO-Link connection
2Adapter ange
3Mounting and positioning
4LED display
5HRC housing
6Emergency release
7Gripper jaws
8Safety fuse
9HRC housing attachment
bl HRC housing mounting screws
1
2
3
4
5
6
7

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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Fig. 3: HRC-02 gripper “safety fuse”
6.1 Electrical specications
INFORMATION:
For information on electrical specications, please visit our website.
This data varies within the series, depending on the specic design.
Zimmer Customer Service is available to provide you with assistance if you have any further questions.
8
bl
9

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
6.2 LED display
The colors of the LED ring reect the status of the gripper.
The LED ring enables a 360° status display.
Status Function
On continuously "TeachPosition"
Flashing Currently not assigned
On continuously "BasePosition"
Flashing Currently not assigned
On continuously The gripper has a fault
Flashing No IO-Link connection available
On continuously Gripper is in undened position
Flashing Currently not assigned
6.3 Veried conguration
INFORMATION:
For information about the veried conguration, please visit our website.
Zimmer Customer Service is available to provide you with assistance if you have any further questions.
6.4 Protection classes
NOTICE:
The gripper achieves protection class IP40 in all mounted positions of installation.
6.5 Technical data
INFORMATION:
For technical data, please visit our website.
This data varies within the series, depending on the specic design.
Zimmer Customer Service is available to provide you with assistance if you have any further questions.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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7. Installation
7.1 Safety notes
NOTICE:
Switch off the energy supply for the electronics before any assembly, installation or maintenance work.
►Electronics may get damaged.
►
CAUTION:
Switch off the energy supply for the electronics before any assembly, installation or maintenance work.
►Injuries are possible.
►
WARNING:
Risk of injury in case of unexpected movement of the machine or system into which the gripper is to be
installed.
►Switch off the power supply to the machine before all work.
►Secure the machine against being switched on unintentionally.
►Check the machine for any residual energy.
7.2 General installation information
The gripper must be installed on a mounting surface in accordance with the specications for atness.
Length < 100 mm  permitted atness imperfection < 0.02 mm
Length > 100 mm  permitted atness imperfection < 0.05 mm
ÖThe mounting screws and the pins are included in the scope of delivery.
ÖStrength class of the mounting screws ≥ 8.8 (DIN EN ISO 4762)
ÖObserve the tightening torque of the mounting screws.
ÖMake sure the mounting surface is su󹱺ciently rigid and at.
ÖRefer to the technical data sheet for the exact positions.
7.3 Installing the mechanical system
The gripper is mounted on the robot arm using the adapter
ange 2.
The following work steps must be observed during installa-
tion:
►Loosen the grub screw bn.
►Remove the adapter ange 2with the mounting
screws bo.
►Position the adapter ange 2on the robot arm using
the straight pin bm.
►Mount the adapter ange 2with the mounting screws
bo.
►Insert the gripper bpinto the adapter ange 2.
►Re-mount the gripper bpon the adapter ange 2using
the grub screws bn.
bm
bn
bo
bp

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
7.4 Installing the power supply
7.4.1 Installing the wiring
►Connect the supply cable to the gripper and the control system.
ÖYou can nd the corresponding supply cable on our website.
INFORMATION:
The cables that are used by Zimmer GmbH feature a minimum bending radius of 10 x the outer diameter.
This bending radius must not be undershot!
►All IO-Link cables that are installed in the grippers have an outer diameter of 5 mm and thus
have a bending radius of 50 mm.
►Freely suspended cables must be secured to prevent excessive motion loads or pinching.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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7.4.2 Installing the “IO-Link”
PIN assignment of the power supply line:
PIN Color Function Explanation
1Brown Sensor + 24 V DC Power supply for IO-Link communication
2White Actuator + 24 V
DC Actuator supply voltage
3Blue GND sensor Sensor 0 V DC supply voltage
4Black C/Q IO-Link communication
5Gray GND actuator Actuator 0 V DC supply voltage
The following steps must be carried out for commissioning or mounting the gripper with IO-Link:
• Connect the gripper to the IO-Link master.
• Secure the voltage supply.
►For Port Class A, additional power supply via Y-cable.
7.5 Static charge
The movement of the gripper jaws creates low voltages as a result of static charging. These charges cannot be
dissipated if the gripper is installed on an insulated surface and discharge is also not possible through the work-
piece.
NOTICE:
Non-compliance may result in property damage
Grounding the gripper attachment / gripper jaws is recommended if ESD-sensitive parts come into con-
tact with the gripper.
Grounding can only be done through the gripper jaws!
7.6 Heat dissipation
In the event of high ambient temperatures, the gripper has to be installed on heat-dissipating materials.
If the gripper is operated under very high ambient temperatures and with fast clock cycles on an ongoing basis,
this might reduce its service life.
7.7 Installing accessories
NOTICE:
Before installing an accessory, make sure it is suitable for use with the selected variant.
For information on all available accessories, please visit our website.
Zimmer Customer Service is available to provide you with assistance if you have any further questions.

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
8. Commissioning
8.1 Commissioning the IO-Link
8.1.1 Process data
There is an option to control the gripper only with the process data that is transmitted in each cycle.
Outputs: Process data from the IO-Link master to the gripper!
Name Data type
ControlWord UINT 16
DeviceMode UINT 8
Workpiece No. UINT 8
Reserve UINT 8
PositionTolerance UINT 8
GripForce UINT 8
DriveVelocity UINT 8
BasePosition UINT 16
ShiftPosition UINT 16
TeachPosition UINT 16
WorkPosition UINT 16
Name Data type
StatusWord UINT 16
Diagnosis UINT 16
ActualPosition UINT 16
Control Gripper
Input
Output

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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8.1.2 IODD import
►Importing the IODD (device description) into the control system.
ÖCall up our website at Öwww.zimmer-group.com
ÖSelect the desired gripper and download the corresponding .zip le via the “Download IODD” link.
ÖThe .zip le is required for importing into the control.
When the hardware conguration is complete and the IO-Link connection to the gripper is established, some
data must be visible in the process input data.
ÖSome control systems demand a byte swap to bring this process data into a logical sequence.
►To determine whether a byte swap is necessary, you can view bit 6 (GripperPLCActive) in the “StatusWord.”
►For this purpose, it is necessary to determine whether bit 6 is active in the rst or second byte of the “Sta-
tusWord.”
ÖIf bit 6 is active in the rst byte, the bytes already have the correct sequence and commissioning
can be continued.
ÖIf bit 6 is active in the second byte, a byte swap still has to be applied here.
ÖFor further information, refer to the “StatusWord” section.
INFORMATION:
It is mandatory to verify the process data!
The gripper is controlled via IO-Link by means of the cyclic process data as well as the acyclic service data with a
cycle time of 10 ms.
8.2 “Handshake” data transfer method
All process data that is transferred to the gripper and is described in the sections that follow must be transferred
using the “Handshake” method.
INFORMATION:
This method is referred to as a “Handshake” because it enables “clean” transfer.
The process data transfer takes place, so to speak, from “hand to hand” - from the control system to the
gripper.
The following steps are required for the “Handshake”:
The data transfer starts with the transfer of "ControlWord" = 0x01 to the gripper.
Subsequently, the response of the gripper must be tested by means of "Statusbit" 12 = TRUE (data
transfer OK).
The data transmission is complete when the gripper sends back "Statusbit" 12 = "DatatransferOK" = FALSE
.
►For an example, refer to the "Quickstart basic parameters" section.

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
8.3 Parameter
8.3.1 “ControlWord” parameter
NOTICE:
In the “ControlWord” parameter, only one single bit may be set at a time. Only the values listed in the
following table are valid:
Parameter Decimal value Hexadecimal value
Data transfer 1 0 x 1
WritePDU 2 0 x 2
ResetDirectionFlag 4 0 x 4
Teach 128 0 x 80
MoveToBase 256 0 x 100
MoveToWork 512 0 x 200
JogToWork "+" 1024 0 x 400
JogToBase "-" 2048 0 x 800
Name "ControlWord"
Data format UINT16
Permission Write
Transfer Cyclic
Value range 0 to 65535
“ControlWord” structure:
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Byte
1- - - - "JogToBase" "Jog- ToWork" "MoveToWork" "MoveToBase"
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte
0"Teach" - - - - "ResetDirec- tionFlag" "WritePDU" "Datatransfer"
Bit 0: „Datatransfer“
►When this bit is set, the gripper accepts the data transferred in the process data.
Bit 1: „WritePDU“
►Setting this bit communicates to the gripper that it should write the current process data to the
selected tool recipe.
Bit 2: „ResetDirectionFlag“
►Setting this bit informs the gripper that the direction ag needs to be reset.
►This makes a repeated movement to a position possible.
►This is logical during a switchover of workpiece recipes.
Bit 7: „Teach“
►Setting this bit informs the gripper to save the current position as the “TeachPosition” in the select-
ed “WorkpieceNo.”
INFORMATION:
This only works if there is no “0” that is transmitted in the workpiece number!
Bit 8: „MoveToBase“
►Setting this bit communicates to the gripper that it should move to the “BasePosition.”

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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Bit 9: „MoveToWork“
►Setting this bit communicates to the gripper that it should move to the “WorkPosition.”
Bit 10: „JogToWork“
►Setting this bit in the “ControlWord” puts the gripper in jog mode and slowly moves toward the
“WorkPosition.” If the bit is reset, the gripper stops.
Bit 11: „JogToBase“
►Setting this bit in the “ControlWord” puts the gripper in jog mode and slowly moves toward the
“BasePosition.” If the bit is reset, the gripper stops.
8.3.2 “DeviceMode” parameter
Name "DeviceMode"
Data format UINT8
Permission Write
Transfer Cyclic
Value range 0 to 256
“Basic commands”
These modes control the basic gripper actions.
"DeviceMode" Action "ControlWord"
0 Not guided to the motor control system dc
1 Idle 0x1
2 Gripper reset 0x1
3 Switch on motor 0x1
5 Switch off motor/stop gripping movement 0x1
10 Start homing (necessary only if the gripper was moved without a voltage
supply) 0x1
11 Enable jog mode 0x400/0x800

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
8.3.3 Movement proles
“PositionProle”
The gripper moves into the “PositionProle” using this mode.
The movement speed is congured using the “DriveVelocity” parameter.
The “TeachPosition” does not have any signicance in this mode because the “BasePosition” or “WorkPosition”
is always approached precisely.
If the gripper encounters an obstacle in this mode while moving, it stops and issues an error message.
The gripper can be moved from the obstacle back to the starting position if the command is switched in the
“ControlWord.”
No dened gripping forces can be generated in this mode. As a result, friction-locked gripping is not permitted in
this mode.
"DeviceMode" Action "ControlWord"
50 Move to "BasePosition" 0x100
50 Move to "WorkPosition" 0x200
51
Move to "BasePosition"
Special movement prole for a faster movement of the gripper. The gripper
must never be jammed, i.e. neither be at the end stop nor have gripped a
workpiece.
0x100
51
Move to "WorkPosition"
Special movement prole for a faster movement of the gripper. The gripper
must never be jammed, i.e. neither be at the end stop nor have gripped a
workpiece.
0x200
DriveVelocity [%]
BasePosition [1/100 mm]0-point WorkPosition [1/100 mm]

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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„ForceProfile“
In this mode, the gripper moves onto the workpiece in the “ForceProle.”
ÖThe “GripForce” parameter is used to congure the desired gripping force.
ÖThe “TeachPosition” parameter is used to dene the workpiece position.
Since gripping typically only occurs in one direction, there is a distinction made between the two mode groups
“62” and “72.”
ÖIn the “62” mode group, the gripper in the “ForceProle” moves from the “BasePosition” toward
the “WorkPosition” onto the workpiece using the “ControlWord” command “0x200.”
ÖIf the “ControlWord” command “0x100” is written in the “62” mode group, then the gripper travels
away from the workpiece to the “BasePosition” in the “PositionProle,” without the need for any
prompts from the user. Here, the gripper moves at the speed set in the “DriveVelocity” parameter.
ÖThis procedure is reversed in the “72” mode group. As such, the “62” mode group is used for
outside gripping and the “72” mode group for inside gripping.
Group „62“ - typically used for outside gripping
"DeviceMode" Action "ControlWord"
62 Move toward the "WorkPosition" until this position or the workpiece is
reached. 0x200
62 Move toward the "BasePosition" for opening the gripper. 0x100
Group „72“ - typically used for inside gripping
"DeviceMode" Action "ControlWord"
72 Move toward the "WorkPosition" until this position or the workpiece is
reached. 0x100
72 Move toward the "BasePosition" for opening the gripper. 0x200
GripForce [%]
BasePosition [1/1000-point WorkPosition [1/100
TeachPosition
PositionToleran-

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
„PrePosition-ForceProfile“
This mode is an extension of the “ForceProle.” This means that a typically quick prepositioning process takes
place until the “ShiftPosition” is reached.
ÖWhen it reaches the “ShiftPosition,” the gripper switches over to the “ForceProle” without
stopping the motor. Therefore, the “BasePosition,” “ShiftPosition” and “WorkPosition” have to be
dened for this mode.
ÖThe “DriveVelocity” and “GripForce” parameters also have to be congured.
ÖHere, the “TeachPosition” also denes the workpiece position with adjustable tolerance.
Just as in the “ForceProle,” the gripper moves away from the workpiece using the “PositionProle” at the speed
specied with the “DriveVelocity” parameter.
Group „82“ - typically used for outside gripping
"DeviceMode" Action "ControlWord"
82 Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip-
Force" until the workpiece or the "WorkPosition" is reached. 0x200
82 Move toward the "BasePosition" for opening the gripper. 0x100
Group „92“ - typically used for inside gripping
"DeviceMode" Action "ControlWord"
92 Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip-
Force" until the workpiece or the "BasePosition" is reached. 0x100
92 Move toward the "WorkPosition" for opening the gripper. 0x200
DriveVelocity
BasePosition0-point WorkPositi-
TeachPosition
PositionToleran-
ShiftPosition
GripForce