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 INSTRUCTIONS HRC-01/-02 series Gripper, electric DDOC00416 THE KNOW-HOW FACTORY www.zimmer-group.de...
- Page 2 Offset Correction value Traversing routine Defined procedure for movement of the gripper jaws Travel path Path on which the gripper jaws travel Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ...
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Page 3: Table Of Contents
9.2.8 Parameter „BasePosition“ ..................................29 9.2.9 Parameter „ShiftPosition“ ...................................30 9.2.10 Parameter „TeachPosition“ ..................................30 9.2.11 Parameter „WorkPosition“ ..................................30 9.2.12 Parameter „StatusWord“ ....................................31 Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... - Page 4 16 Transport/Lagerung/Konservierung ..........................48 17 Außerbetriebsetzung/Entsorgung ............................. 49 18 RoHs-Erklärung ................................... 50 19 REACH-Erklärung ................................50 20 Einbauerklärung .................................. 51 21 Konformitätserklärung ................................ 52 Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ...
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Page 5: Supporting Documents
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. -
Page 6: Safety Notes
• The locally applicable regulations, laws, directives or guidelines are not observed. The product may only be used in accordance with its intended use and technical data. Zimmer GmbH shall accept no liability for any damage caused by improper use. -
Page 7: Proper Use
Operate the product only when it is in a technical condition that corresponds to the guaranteed parameters and operating conditions. Zimmer GmbH shall accept no liability for any damage caused by improper use. The operator bears sole respon- sibility. The product is designed exclusively for electrical operation within the stipulated parameter limits and operating conditions at 24 V DC. -
Page 8: Product Description
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. 5.3 Type plate A type plate is attached to the housing of the product . -
Page 9: Kriterien Für Den Einsatz In Kollaborierenden Applikationen
> 140 N upon vulnerable areas of the body. Separated workspaces Presence detection Ö This only applies to the HRC-02 series. Ö The HRC-01 series has a higher gripping force. Cooperation Collaboration The gripping forces generated when gripping soft objects are significantly reduced, since the amount of dynamic force is lowered. -
Page 10: Function
• Brushless DC servomotor with an absolute encoder system • The gripper jaws run on parallel guide rails arranged side by side • The gripper jaws are mechanically coupled to each other 6.1 HRC-01 Fig. 1: HRC-01 series gripper from above Control Adapter flange Mounting and positioning... -
Page 11: Hrc-02
Safety fuse HRC housing attachment HRC housing mounting screws Fig. 3: HRC-02 series gripper, Molex connector Fig. 2: HRC-02 series gripper, emergency release Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 12: Elektrische Spezifikationen
Fig. 4: HRC-02 series gripper, safety fuse 6.3 Electrical specifications INFORMATION For electrical specifications, please refer to our website at www.zimmer-group.com. This data varies within the series, depending on the specific design. Please contact Zimmer Customer Service if you have any questions. -
Page 13: Abgesicherte Konfiguration
6.4 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. 6.5 Protection class NOTICE The gripper achieves protection class IP40 in all mounted positions of installation. -
Page 14: Installation
• Strength class of the mounting screws ≥ 8.8 (DIN EN ISO 4762) • Observe the tightening torque of the mounting screws. Ö Zimmer GmbH recommends verifying the permitted load-carrying capacity of the required screw connections in accordance with VDI 2230. -
Page 15: Montage Des Produkts „Hrc-01" Und „Hrc-02
► Re-insert the gripper into the adapter flange ► Mount the gripper on the adapter flange using the grub screws Fig. 2: HRC-01 series gripper Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 16: Montage Des Produkts „Adapterflansch
► Re-insert the gripper into the adapter flange ► Mount the gripper on the adapter flange using the grub screws Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 17: Montage Energiezuführung
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 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 18: Montage „Io-Link
► The external programming must ensure that the most recent status of the gripper is transmitted when all signals return and any potential object being gripped is not ejected. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 19: Montage „Molex-Stecker
The following steps must be carried out for commissioning or installing the gripper: ► Connect the gripper to the voltage supply. ► Secure the voltage supply. Ö For Port Class A, additional power supply via Y-cable. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 20: Statische Aufladung
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... -
Page 21: Inbetriebnahme
Input Control Gripper Output Name Data type StatusWord UINT 16 Diagnosis UINT 16 ActualPosition UINT 16 Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • •... -
Page 22: Iodd Import
9.1.2 IODD import ► Importing the IODD (device description) into the control system. Ö Call up our website at www.zimmer-group.com Ö Select the desired gripper and download the corresponding .zip file via the "Download IODD" link. Ö The .zip file is required for importing into the control. -
Page 23: Parameter
► 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 selected "WorkpieceNo." Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 24: Parameter „Devicemode
Switch on motor 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 Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 25: Fahrprofile
Special movement profile for a faster movement of the gripper. The gripper must 0x200 never be jammed, i.e. neither be at the end stop nor have gripped a workpiece. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... - Page 26 "ControlWord" Move toward the "WorkPosition" until this position or the workpiece is reached. 0x100 Move toward the "BasePosition" for opening the gripper. 0x200 Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com...
- Page 27 Move with v = "DriveVelocity" to the "ShiftPosition" and then with "GripForce" until 0x100 the workpiece or the "BasePosition" is reached. Move toward the "WorkPosition" for opening the gripper. 0x200 Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com...
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Page 28: Parameter „Workpieceno
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 Cyclical Value range 0 to 255 Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • •... -
Page 29: Parameter „Gripforce
Data format UINT16 Permission Write Transfer Cyclical Value range 0.75 to max. jaw stroke of the gripper + 0.75 mm Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 30: Parameter „Shiftposition
Data format UINT16 Permission Write Transfer Cyclical Value range 0.75 to max. jaw stroke of the gripper + 0.75 mm Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 31: Parameter „Statusword
Bit 9: "TeachPosition" ► This bit is active if the gripper is at "TeachPosition." Bit 10: "WorkPosition" ► This bit is active if the gripper is at "WorkPosition." Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 32: Parameter „Diagnosis
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 Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 33: Kaltstart
The gripper requires a certain "minimum travel path" to accelerate to the desired gripping force. This minimum travel path depends on: • The desired gripping force • The dimensions of the gripper fingers Design size Minimum travel path HRC-01 series 3 mm HRC-02 series 3 mm 9.5 Referencing by "Homing" NOTICE Before each "Homing command,"... -
Page 34: Devicemode" 14
For the "DeviceMode" 14 parameter, the procedure is identical to the "DeviceMode" 10. Ö Here, you will assign the "DeviceMode" = 14 and transmit it. NOTICE Gripper jaws move inward when using this parameter! Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 35: 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 Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... - Page 36 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 Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ...
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Page 37: Unterbrechung Der Spannungsversorgung
"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 Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 38: Grundparameter „Quickstart
//Queries the completion of the data transmission, "DataTransferOK"= FALSE ControlWord := 512; //Handshake is completed, gripper now moves to WorkPosition (0x200 or 512(decimal) = MoveToWork) iStep:= 80; END_IF; Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 39: Greiferbewegung Starten
//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 Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 40: Rezepturbeispiele
//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 Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 41: Rezeptur Laden
//Queries the completion of the data transmission, "DataTransferOK"= 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 Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 42: Bedienung
In the event of a power failure, the positions of the gripper jaws and the gripping force of products HRC-01 and HRC-02 stay constant. INFORMATION If you have any further questions on adjustable gripping force and emergency release, Zimmer Customer Service is available to provide you assistance. -
Page 43: Fehlerdiagnose
0x0301 Positions not available ► Apply the process data via a • Modified process data were not "handshake." taken over. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... - Page 44 Difficulty of movement • Gripper jaws are tensioned incorrectly. ► Error must be acknowledged. 0x0401 Current limit exceeded • - ► - Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ...
- Page 45 ► Error must be acknowledged. 0x0406 System/internal error • Internal error ► - • An important parameter in FRAM ► Contact Zimmer Customer 0x040C FRAM R/W error is corrupted. Service. • An irrelevant parameter in FRAM ► Contact Zimmer Customer...
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Page 46: Tabelle Der Azyklischen Daten (Isdu)
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... -
Page 47: Wartung
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 48: Wechsel Der Schmelzsicherung
HRC-02-101487: 800 mA - super quick acting, Püschel (105.000 series) HRC-02-101528: 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 49: Außerbetriebsetzung/Entsorgung
Disconnect the gripper from the power supply completely. The gripper can be disassembled and properly disposed of according to material groups. When disposing of it, observe the locally applicable environ- mental regulations and codes and regulations for disposal. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 50: Rohs-Erklärung
INSTALLATION AND OPERATING INSTRUCTIONS: 2-Jaw parallel gripper, electric, HRC-01/-02 series 18 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 info@zimmer-group.de ... -
Page 51: Einbauerklärung
2-jaw parallel gripper, electric, HRC-01/-02 series 20 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 52: Konformitätserklärung
2-Jaw parallel gripper, electric, HRC-01/-02 series 21 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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