Zimmer GEH6000IL Series Installation And Operating Instructions Manual

Gripper, electric

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INSTALLATION AND

OPERATING

INSTRUCTIONS

GEH6000IL/GED6000IL series

Gripper, electric

DDOC00212

THE KNOW-HOW FACTORY

www.zimmer-group.com

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Summary of Contents for Zimmer GEH6000IL Series

Page 1 INSTALLATION AND OPERATING INSTRUCTIONS GEH6000IL/GED6000IL series Gripper, electric DDOC00212 THE KNOW-HOW FACTORY www.zimmer-group.com...
Page 2 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series Parameter explanation (glossary) Parameter Explanation The gripper is controlled with the "ControlWord". ControlWord The "ControlWord" is bit-exclusive, which means that only one bit at a time can be active in the "Word".
Page 3 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series Content 1. Supporting documents ...............................5 2. Safety instructions ................................5 3. Proper use ....................................6 4. Personnel qualification ...............................6 5.
Page 4 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series Interruption of the power supply ..................................33 “Easy Startup” .........................................33 Start of data transmission ....................................33 8.10 “Quickstart”...
Page 5 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.
Page 6 Zimmer GmbH shall accept no liability for any damage caused by improper use. Use outside of the defined parameters is not permitted. Unauthorized electrical or mechanical modifications must not be made.
Page 7 Ö If not specified otherwise, these values are to be reached with a fixed workpiece made of metal. If you should have further questions about forces and torques, please contact Zimmer GmbH Customer Service. Type plate A type plate is attached to the housing of the gripper.
Page 8 Please refer to our website for information on electrical specifications www.zimmer-group.com Ö This data varies within the series depending on the specific design. If you should have further questions about the electrical specifications, please contact Zimmer GmbH Customer Service. Zimmer GmbH Im Salmenkopf 5  77866 Rheinau, Germany...
Page 9 Please refer to our website for information on verified configurations www.zimmer-group.com Ö If you still have questions about the verified configuration, please contact Zimmer Customer Service. Protection classes NOTICE: The gripper achieves protection class IP54 in all mounted positions of installation.
Page 10 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 7. Installation Safety instructions NOTICE: Switch off the energy supply for the electronics before any assembly, installation or maintenance work.
Page 11 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series Installation of the mechanical system GED6000IL The gripper must be installed on a mounting surface in accordance with the levelness specifications.
Page 12 IO-Link chip C/Q (pin 4) being too long. Ö Make sure that the gripper is correctly connected at all times! 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! Ö...
Page 13 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 7.4.3 Installation of “Special gripper with a second cable” (STO connecting cable) INFORMATION: The “Semi-Standard” gripper has a second cable that feeds the STO signals (Safe-Torque-OFF) outside.
Page 14 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series Static charge The movement of the gripper jaws create low voltages as a result of static charging. This charging cannot be dissipated if a discharge is also not possible via the workpiece.
Page 15 In the event of high ambient temperatures, the gripper has to be installed on heat-dissipating materials. Installation of accessories INFORMATION: Visit our website for a complete overview of accessories for the GEH6000IL series: Ö www.zimmer-group.com. If you still have questions about accessories, please contact Zimmer GmbH Customer Service.
Page 16 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 8.1.1 IODD import ► Importing the IODD (device description) into the control system. Ö Call up our website at Ö...
Page 17 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 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...
Page 18 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series Bit 7: „Teach“ ► Setting this bit informs the gripper to save the current position as the “TeachPosition” in the selected “WorkpieceNo”.
Page 19 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 8.3.3 Movement profiles “PositionProfile” DriveVelocity [%] 0-point BasePosition [1/100 mm] WorkPosition [1/100 mm] The gripper moves into the “PositionProfile” using this mode.
Page 20 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series “ForceProfile” Ö Applies for all GEH6000IL, with the exception of GEH60xxIL-31-B TeachPosition GripForce [%]...
Page 21 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series Group „70“ - typically used for inside gripping "DeviceMode" Action "ControlWord" Move toward the "BasePosition" until this position or the workpiece is 0x100 reached.
Page 22 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series Move toward the "BasePosition" for opening the gripper 0x200 “PrePosition-ForceMode” Ö Applies for all GEH6000IL, with the exception of GEH60xxIL-31-B...
Page 23 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series Group „90“ - typically used for inside gripping "DeviceMode" Action "ControlWord" Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip- 0x200 Force"...
Page 24 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 8.3.4 “WorkpieceNo” parameter This workpiece number is used for selecting the previously stored workpiece data, as well as for selecting the “WorkpieceNo”...
Page 25 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 8.3.7 “DriveVelocity” parameter The gripper can use different movement speeds for an optimized process flow.
Page 26 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 8.3.10 “TeachPosition” parameter The “TeachPosition” defines the target position of the workpiece and its use is optional.
Page 27 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series Bit 2: „InMotion“ ► This bit is active during the run. Bit 3: „MovementComplete“...
Page 28 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 8.3.13 “Diagnosis” parameter The value returned in the parameter corresponds to the error code (see “Troubleshooting” chapter).
Page 29 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series Design size Minimum travel path GED6040IL-03-A 4 mm GED6040IL-31-A 4 mm GED6140IL-03-A 2 mm Referencing by “Homing”...
Page 30 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 8.6.1 “DeviceMode” 10 The following work steps must be observed for “Homing”: ► Assign the parameter “DeviceMode” = 10 and transmit this value to the gripper using the “Handshake”.
Page 31 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 8.6.3 “DeviceMode” 16 WARNING: Risk of injury due to increased force of the gripper during „Homing“.
Page 32 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 8.6.4 “DeviceMode” 17 WARNING: Risk of injury due to increased force of the gripper during „Homing“.
Page 33 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series Interruption of the power supply When interrupting the voltage supply (e.g. when using a tool changer), care must be taken to ensure that the gripper stores the last position in the controller.
Page 34 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 8.10 “Quickstart” basic parameters In the following example code, you see the first initialization of the gripper, the activation of the motor and the transmission of the process parameters.
Page 35 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 8.11 Starting gripping movement By sending the  "ControlWord" = 0x200  the gripper moves towards the "WorkPosition", which means that the gripper jaws are moving inward.
Page 36 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 8.13 Recipe examples The following example code shows how process parameters can be stored in the internal workpiece recipe.
Page 37 GEH6180IL-03-B INFORMATION: After an emergency release, another “Homing” reference run must be carried out. If you still have questions about the emergency release, please contact Zimmer Customer Service. Zimmer GmbH Im Salmenkopf 5  77866 Rheinau, Germany +49 7844 9138 80 +49 7844 9138 80 www.zimmer-group.com...
Page 38 INFORMATION: You can find the gripping force charts on the technical data sheet on our website www.zimmer-group.com Ö If you should have further questions about the gripping force charts, please contact Zimmer GmbH Customer Service. 11. Troubleshooting Error code Error...
Page 39 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series Error code Error Possible cause Measure • The actuator voltage is not present. 0x0100 Actuator voltage is too low ►...
Page 40 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series Error code Error Possible cause Measure ► Check the transmitted process • Transmitted "TeachTolerance"...
Page 41 Dismantling and reassembling the gripper without authorization may result in complications, as special installation equipment is required in some cases. Zimmer GmbH shall not be liable in the event of unauthorized dismantling and reassembling of the gripper or in the event of any malfunction or damage resulting from this.
Page 42 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 16. RoHS declaration In terms of the EU Directive 2011/65/EU Name and address of the manufacturer: Zimmer GmbH 77866 Rheinau, Im Salmenkopf 5...
Page 43 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 18. Declaration of Incorporation In terms of the EU Machinery Directive 2006/42/EC (Annex II 1 B)
Page 44 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series 19. Declaration of Conformity In terms of the EC Directive 2014/30/EC on electromagnetic compatibility...

This manual is also suitable for:

Ged6000il series Geh6040il-03-b Geh6040il-31-b Geh6060il-03-b Geh6140il-03-b Geh6180il-03-b ... Show all