Zimmer HRC-01 Series Installation And Operating Instructions Manual
Gripper, electric
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Summary of Contents for Zimmer HRC-01 Series
- Page 1 INSTALLATION AND OPERATING INSTRUC- TIONS HRC-01/-02 series Gripper, electric DDOC00416 THE KNOW-HOW FACTORY www.zimmer-group.com...
- Page 2 Offset Correction value Traversing routine Defined procedure for movement of the gripper jaws Travel path Distance that the gripper jaws travel Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ...
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Page 3: Table Of Contents
8.6.1 “DeviceMode” 10 ......................................27 8.6.2 “DeviceMode” 14 ......................................27 8.6.3 “DeviceMode” 16 ......................................28 8.6.4 “DeviceMode” 17 ......................................29 Interruption of the power supply ..................................30 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... - Page 4 16. Decommissioning and disposal ............................41 17. RoHS declaration ................................42 18. REACH declaration ................................42 19. Declaration of Incorporation .............................43 20. Declaration of Conformity ..............................44 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com...
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Page 5: Supporting Documents
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: Proper Use
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. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany... -
Page 7: Type Plate
INFORMATION: Please state the confirmation 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. 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: Ö... -
Page 8: Function
HRC housing Fig. 2: HRC-02 series gripper “from below” Emergency release Gripper jaws Safety fuse HRC housing attachment HRC housing mounting screws Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 9: Electrical Specifications
For information on electrical specifications, please visit our website. This data varies within the series, depending on the specific design. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Zimmer GmbH Im Salmenkopf 5 ... -
Page 10: Led Display
Verified configuration INFORMATION: For information about the verified configuration, please visit our website. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Protection classes NOTICE: The gripper achieves protection class IP40 in all mounted positions of installation. -
Page 11: Installation
► Insert the gripper into the adapter flange ► Re-mount the gripper on the adapter flange using the grub screws Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 12: Installing The Power Supply
Ö You can find 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. -
Page 13: Installing The "Io-Link
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. Zimmer GmbH Im Salmenkopf 5 ... -
Page 14: Commissioning
Input Control Gripper Output Name Data type StatusWord UINT 16 Diagnosis UINT 16 ActualPosition UINT 16 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ● ● ● ●... -
Page 15: Iodd Import
The data transmission is complete when the gripper sends back "Statusbit" 12 = "DatatransferOK" = FALSE . ► For an example, refer to the "Quickstart basic parameters" section. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 16: Parameter
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.” Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany... -
Page 17: Devicemode" Parameter
Switch off motor/stop gripping movement Start homing (necessary only if the gripper was moved without a voltage supply) Enable jog mode 0x400/0x800 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 18: Movement Profiles
Special movement profile for a faster movement of the gripper. The gripper 0x200 must never be jammed, i.e. neither be at the end stop nor have gripped a workpiece. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... - Page 19 Move toward the "WorkPosition" until this position or the workpiece is 0x100 reached. Move toward the "BasePosition" for opening the gripper. 0x200 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ...
- Page 20 Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip- 0x100 Force" until the workpiece or the "BasePosition" is reached. Move toward the "WorkPosition" for opening the gripper. 0x200 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com...
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Page 21: Workpieceno" Parameter
By doing this, the TeachPosition window starts at 13.50 mm and goes all the way up to 16.50 mm. Name "PositionTolerance" Data format UINT8 Permission Write Transfer Cyclic Value range 0 to 255 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ● ● ●... -
Page 22: Gripforce" Parameter
Data format UINT16 Permission Write Transfer Cyclic 0.75 to max. jaw stroke of the gripper + 0.75 Value range Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ●... -
Page 23: Shiftposition" Parameter
Data format UINT16 Permission Write Transfer Cyclic 0.75 to max. jaw stroke of the gripper + 0.75 Value range Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ●... -
Page 24: Statusword" Parameter
► This bit is active if the gripper is at “WorkPosition.” Bit 11: „UndefinedPosition“ ► This bit is active if the gripper is neither at “TeachPosition,” nor “WorkPosition” nor “BasePosi- tion.” Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 25: Diagnosis" Parameter
Ö The position measurement accuracy is: 0.1 mm If the “ActualPosition” parameter is used to detect the workpiece, then fluctuations around the exact value must be taken into account during commissioning! Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany... -
Page 26: Cold Boot
The gripper has reached its “zero position” if the gripper jaws are at the pictured position when referencing (“Hom- ing” “DeviceMode” 10). Depending on installation size, the gripper jaws move slightly beyond the edge of the gripper housing when mov- ing to home position (“Homing”). Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 27: Devicemode" 10
For the “DeviceMode” 14 parameter, the procedure is identical to the “DeviceMode” 10. Ö Here, you assign “DeviceMode” = 14 and transmit it. NOTICE: Gripper jaws move inward when using this parameter! Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 28: Devicemode" 16
This makes it possible to move against the internal end stop at high speed, which can result in jamming of and damage to the gripper. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... - Page 29 This makes it possible to move against the internal end stop at high speed, which can result in jamming of and damage to the gripper. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com...
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Page 30: Interruption Of The Power Supply
“DataTransferOK” bit. The gripper is now ready for operation. INFORMATION: For further information on data transmission and possible positions, refer to the “StatusWord” section. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 31: Quickstart" Basic Parameters
//Queries the completion of the data transmission, “DataTransferOK”= FALSE ControlWord:= 512; //Handshake is completed, gripper now moves to WorkPosition (0x200 or 512(dec) = MoveToWork) iStep:= 80; END_IF; Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 32: Starting Gripping Movement
//Queries whether both direction flags (“ControlWord0x100” AND “ControlWord0x200” bit =FALSE in the ControlWord) ControlWord := 256; //Moves back towards BasePosition iStep := 50; END_IF; Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 33: Recipe Examples
//Queries the completion of the data transmission, “DataTransferOK”= FALSE, this procedure can take several seconds //Do other things... //Storage is completed END_IF; Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 34: Load Recipe
FALSE //Do other things... //Handshake is completed, the parameters from the third recipe are now taken over into the current process parameters END_IF; Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 35: Operation
2 mm INFORMATION: After an emergency release, another “Homing” reference run must be carried out. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany... -
Page 36: Gripping Force Charts
INFORMATION: You can find the gripping force charts on the technical data sheet on our website www.zimmer-group.com Ö Zimmer Customer Service is available to provide you with assistance if you have any further questions. 11. Error diagnosis Error code Error... - Page 37 0x0402 • Gripper jaws are tensioned incorrectly. ► Error must be acknowledged. 0x0406 System/internal error • Internal error ► - Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ...
- Page 38 For this reason, the GEH/GED6000IL series can be used completely without the need for acyclic data. This makes it as easy as possible for the customer to control the gripper. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Index...
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Page 39: Maintenance
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 40: Replacing The Safety Fuse
HRC-02-101528: 800 mA - super quick acting, Püschel (105.000 series) HRC-02-101903: 800 mA - super quick acting, Püschel (105.000 series) If any safety fuses not sold or authorized by Zimmer GmbH are used, the function of the gripper cannot be guaranteed. -
Page 41: Accessories/Scope Of Delivery
2-jaw parallel gripper, electric, HRC-01/-02 series 14. Accessories/scope of delivery INFORMATION: If any accessories not sold or authorized by Zimmer GmbH are used, the function of the gripper cannot be guaranteed. The accessories from Zimmer GmbH are specifically fitted for the individual grippers. -
Page 42: Rohs Declaration
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series 17. RoHS declaration ... in terms of the EU Directive 2011/65/EU Name and address of the manufacturer: Zimmer GmbH Im Salmenkopf 5 D-77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 43: Declaration Of Incorporation
2-jaw parallel gripper, electric, HRC-01/-02 series 19. Declaration of Incorporation In terms of the EU Machinery Directive 2006/42/EC (Annex II 1 B) Name and address of the manufacturer: Zimmer GmbH Im Salmenkopf 5 D-77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 44: Declaration Of Conformity
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series 20. Declaration of Conformity in terms of the EC Directive 2014/30/EC on electromagnetic compatibility Name and address of the manufacturer: Zimmer GmbH Im Salmenkopf 5 D-77866 Rheinau, Germany +49 7844 9138 0 ...
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