Related Manuals for Zimmer startZ
Summary of Contents for Zimmer startZ
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS startZ Universal Robot DDOC01095 THE KNOW-HOW FACTORY www.zimmer-group.de...
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Page 2: Table Of Contents
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots Contents Supporting documents ................................. 4 Hazard levels of warning notices ....................................4 Safety notices ..................................5 Proper use ..................................... 5 4 Personnel qualification ................................. 6 Product description ................................6 Function ....................................7 6.1 Comfort App on the robot control panel ...................................7 6.2... - Page 3 INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 9.3.8 Controller I/O: Adjusting the connection assignment ..........................42 9.4 Robot cold start after successful Zimmer installation ............................47 10 Operation ..................................... 49 10.1 Zimmer gripper control principle .....................................49 10.2 Overview of generated robot commands ................................50 10.3 Example of the use of generated robot jobs ................................52 11 Troubleshooting .................................. 52 12 Accessories/scope of delivery ............................52 13 Decommissioning/disposal ............................... 52 Zimmer GmbH...
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Page 4: Supporting Documents
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 1 Supporting documents NOTICE Read through the installation and operating instructions 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 lifetime. The documents listed below are available for download on our website www.zimmer-group.com: • Detailed installation and operating instructions • Catalogs, drawings, CAD data, performance data • Information on accessories • Technical data sheets • General Terms and Conditions, including warranty information Ö Only those documents currently available on the website are valid. -
Page 5: Safety Notices
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 2 Safety notices CAUTION Risk of injury and material damage in case of non-compliance Installation, commissioning, maintenance and repairs may only be performed by qualified specialists in accordance with these installation and operating instructions. The product is state-of-the-art. It is mounted on industrial machines. The following are examples of situations in which the product may cause a hazard: • The product is not properly installed, used or maintained. • The product is not used for its designated purpose. • 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. Any use other than the intended use requires written approval from Zimmer GmbH. Make sure that the power supply is disconnected before you install, retool or service the product. Zimmer GmbH recommends performing maintenance tasks, renovation work or attachment work outside of the machine's danger zone when possible. ► When commissioning or testing, make sure that the product cannot be actuated by mistake. ► Modifications to the product, such as adding drilled holes or threads, may be made only with prior approval from Zimmer GmbH. -
Page 6: Personnel Qualification
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 4 Personnel qualification Installation, commissioning and maintenance may only be performed by trained specialists. These persons must have read and understood the installation and operating instructions in full. For understanding these installation and operating instructions, it is important to be familiar with and understand the manuals from Universal Robots as well as the installation and operating instructions of the Zimmer grippers used. More information about the gripper in greater detail can be found in the associated installation and operating instructions. 5 Product description In principle, with the two products SCM and the Zimmer Comfort App, startZ from Zimmer enables the use of a maximum of two Zimmer IO-Link grippers. These grippers must be installed on the tool flange of the robot and connected to the SCM. As a rule, the following products from Zimmer GmbH can currently be operated. If necessary, the supplied gripper can therefore be replaced with the products below at any time to suit the application, without significantly changing the use. Basic IO-Link gripper Advanced IO-Link gripper GEP2xxxIL GEH6xxxIL GEP5xxxIL GED6xxxIL GED5xxxIL HRC-01 GPP5xxxIL HRC-02 GPD5xxxIL HRC-03 HRC-04 HRC-05 The Zimmer Comfort App can interactively call up a number of robot jobs, depending on the configuration and connection used. If only one gripper is used by the robot, a second gripper does not have to be configured. -
Page 7: Function
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 6 Function The image below shows the schematic structure of the overall system. All necessary parts for this are included in the startZ box and can be obtained as needed also individually or in a different combination at Zimmer GmbH. The following overview presents the overall system structure: expertZ guideZ monitorZ < > Temporary Ethernet connection Gripper 1: Manual control – – Grip Release – Reset MotorOn WP_00 WP_01 WP_02 IO-Link - digital I/O IsClosed IsReleased... -
Page 8: Installation
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 7 Installation 7.1 Installing the hardware components Example depiction of an installed gripper with adapter plate, cable and Velcro tape: Extension cable M12, 5-pin KAG500IL Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 9: General Installation Information
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 7.2 General installation information 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. CAUTION Risk of injury in the event of unexpected movement of the gripper when the power supply is connected. ► Switch off the power supply to the gripper before all work. ► Secure the power supply against being switched on unintentionally. ► Check the power supply for any residual energy. NOTICE Switch off the power supply before any assembly, installation or maintenance work. The gripper must be installed on a mounting surface in accordance with the specifications for flatness. Ö Permissible unevenness: 0.03 mm • Mounting screws are included in the scope of delivery. • Strength class of the mounting screws ≥ 8.8 (DIN EN ISO 4762) • Observe the tightening torque of the mounting screws. • The exact installation positions can be found on the technical data sheet on our website. -
Page 10: Installing The Mechanical System
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 7.3 Installing the mechanical system 7.3.1 Installing GEH6000IL Example representation of the gripper installation: The gripper is mounted to the robot using the base and adapter plate. Ö 10.25 Nm (4x M6 mounting screws adapter plate Ö 3.0 Nm (2x M4 gripper/adapter plate Ö 3.0 Nm (1x M4 gripper finger) The following work steps must be observed during installation: ► Position the adapter plate on the gripper Ö The alignment is carried out using the centering pin ► Affix the adapter plate on the robot using the mounting screws ... -
Page 11: Installing Hrc-02
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 7.3.2 Installing HRC-02 Example representation of the gripper installation: The gripper is mounted to the robot using the base and adapter flange. Ö 10.25 Nm (4x M6 mounting screws adapter flange Ö 1.3 Nm (2x M3 gripper finger) Ö 6.0 Nm (grub screws The following work steps must be observed during installation: ► Unscrew the grub screws ► Remove the adapter flange with the mounting screws ► Position and align the adapter flange using the straight pin on the robot ► Mount the adapter flange with the mounting screws ► Re-insert the gripper... -
Page 12: Installing The Power Supply
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 7.4 Installing the power supply 7.4.1 SCM pin assignment Status Status Anschluss Ethernet Digital Input IO-Link 1 / X1 Digital Output IO-Link 2 / X2 Versorgung / X3 X8 / Versorgung Zimmer GmbH... -
Page 13: Installing The Standard Wiring
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 7.4.2 Installing the standard wiring INFORMATION If the pre-assembled connectors are used, the gripper, robot and SCM are wired as standard. Without connectors, the gripper, robot and SCM must be reconfigured in accordance with the SCM installation and operating instructions. Ö The SCM installation and operating instructions can be found in our download area. Please contact Zimmer Customer Service if you have any questions. 7.4.3 Installing the SCM 7.4.3.1 Standard wiring Ö The pin assignment of the robot DIOs can be found in the installation and operating instructions of the Universal Robot. Ö The pin assignment of the SCM can be found in the DDOC00734 installation and operating instructions. Ö These installation and operating instructions can be downloaded together with the ZG_IO_LINK_HMI software. Safety Remote Power Con gurable Inputs... -
Page 14: Pin Assignment Of The Robot Controller
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 7.4.4 Pin assignment of the robot controller ► Connect the SCM to the robot controller with the five connectors (labeled). Ö The robot must be de-energized for this. Ö To do this, remove the original connectors of the robot. ► Mount the SCM in the robot cabinet with the adhesive strips. The respective gripper can now be connected to the SCM using the included cable. Ö Then, switch on the robot to supply the SCM with power. Safety Remote Power Con gurable Inputs Con gurable Outputs Digital Inputs Digital Outputs Analog Digital Inputs... -
Page 15: Hmi/Urcaps Software Download
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 7.4.4.1 Customer-specific wiring Customer-specific wiring with full functionality of the SCM is possible by using other I/Os in the Universal Robots control cabinet and attaching them to the free pins of the SCM. Ö Expands the number of workpiece recipes to up to 15 pieces. INFORMATION Please contact Zimmer Customer Service if you have any questions. 7.5 HMI/URCaps software download Every startZ box is delivered with a digitalZ document including a download code. The "ZG_IO_LINK_HMI" software and its documentation as well as the Zimmer Comfort App with documentation and program examples can be downloaded via the URL or QR code below. Carry out the following points: • Install the software/"ZG_IO_LINK_HMI" setup on a Windows PC (Windows 7 or later). • Download "zimmerDigital-urcap" in the "UR_Comfort_App" folder and copy to a USB stick. http://cloud.zimmer-group.com/url/zimmerstarzur Password: ZimmerStarZUR2020 7.6 Setting up the Ethernet connection Only the "lower" Ethernet connection (green box – figure, chapter 7.4.1) is active and is connected to a computer for config- uration of the SCM. The factory setting here is as follows: • IP address: 10.0.0.5 •... -
Page 16: Configuring The Io-Link Gripper With The Scm
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots • "Network and Sharing Center" Ö Setting of the network. ► Click on "Set up a new connection or network." Ö The connection options appear. ► Click on "Set up a new network" and follow the instructions on your PC. 7.7 Configuring the IO-Link gripper with the SCM Configure the IO-Link gripper with the SCM in accordance with the following chapter 8. All workpiece recipes must be taught into guideZ in the SCM. However, at least workpiece recipe no. 1 must be assigned with a taught-in workpiece in SCM. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 17: Commissioning The Scm
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8 Commissioning the SCM If the SCM is wired correctly, the desired grippers are connected and the voltage supply is switched on, the device first starts up. For this process, the POWER LEDs first briefly light up green, then status 1/2 flash on the base module as long as the grippers are being searched for (depending on the last saved configuration on the SCM). 8.1 Connecting with the SCM Connect the computer to the installed Zimmer HMI software "ZG_IO_Link_HMI" in version 2.0.1.22 or later. The three control levels are located at the top left in the software window: • expertZ: Expert level where all gripper data can be accessed. • guideZ: Configuration level where the gripper can be taught to the desired workpiece. • monitorZ: Diagnostic and observation level for monitoring the gripper during operation. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 18: Selecting The Gripper In Guidez Mode
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8.2 Selecting the gripper in guideZ mode Click on the desired gripper to start the guideZ function. The following graphic shows a GEH6000 series gripper that is taught to the workpiece. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • •... -
Page 19: Switching On The Motor And Referencing
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8.3 Switching on the motor and referencing In the guideZ process, progress is displayed by the white bar in the lower area of the window. On the right in the window, the green power supply LED shows whether the actuator voltage is connected. Only when the LED lights up green in the bottom right of the window can the button be used to proceed to the next step. In this case, the gripper motor is still switched off. Ö Switch on the motor with one of the two reference run buttons. Ö This also references the gripper towards the outside or inside. If the motor is switched on, you can jump to the next step. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 20: Selecting The Desired Gripping Direction
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8.4 Selecting the desired gripping direction Select the required or desired gripping direction (outside or inside gripping). Depending on the selection, the corresponding appropriate parameters are set in the gripper automatically. Outside gripping Inside gripping Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com •... -
Page 21: Teaching-In The Workpiece
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots When selecting the desired gripping direction, the operating concept still applies that you can only proceed one step further with the button when the LED in the bottom right of the window lights up green. 8.5 Teaching-in the workpiece To teach the workpiece parameters into the gripper, press and hold the movement buttons in the window on the right. The gripper detects the standstill and remembers the workpiece position. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • •... -
Page 22: Setting The Workpiece Tolerance
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8.6 Setting the workpiece tolerance For the taught-in workpiece, the tolerance can be set from 0.00 mm to 2.55 mm. Accordingly, the gripper automatically sets its closed position just after the workpiece tolerance. Ö That is, assuming that a servo gripper with freely adjustable positions is being used. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • •... -
Page 23: Setting The Open Position
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8.7 Setting the open position The open position can only be set for grippers with servo functionality. Ö Set the position at which the gripper is to be open. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • • •... -
Page 24: Setting The Gripping Force
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8.8 Setting the gripping force Provided that the gripper allows it, the gripping force can be set. In the process, the closing speed can also be set automatically. INFORMATION: Durch die Kraft wird auch die Geschwindigkeit eingestellt! Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 25: Setting The Speed For Opening The Gripper
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8.9 Setting the speed for opening the gripper If possible, the speed for opening the gripper can be set as desired. Ö Only possible for servo grippers. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • •... -
Page 26: Checking The Settings
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8.10 Checking the settings Workpiece training for the gripper is ended when the data is saved in the corresponding recipe. INFORMATION At this point, the set parameters are not yet saved in the corresponding recipe. The settings can also be checked without the actual control I/Os. Input field: Ö Click in the blue fields with the mouse to set a command. Output field: Ö The fields indicate the corresponding status of the gripper. Clicking on "Save to WP" opens the recipe window. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 27: Saving The Recipe
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8.11 Saving the recipe The recipe can now be saved in the SCM. Ö Select the desired recipe number and click the "save WP" button to save the data. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • • •... -
Page 28: End Of Saving The Data
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8.12 End of saving the data After a successful data save, guideZ goes back to Step 1 in order to teach-in a new workpiece. Ö If this is not intended, click on the monitorZ button to switch to observation mode. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • •... -
Page 29: Monitorz Mode
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8.13 monitorZ mode Click on the "plug HMI" button to transfer the control ability to the digital I/O. Ö The control LED in the window on the right lights up red. It is now no longer possible to control the gripper with the HMI software, since the I/O signals have now taken over control. The gripper can now be moved with the external control system and the saved settings. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • • •... -
Page 30: Expertz Mode
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8.14 expertZ mode In expertZ mode, it is possible to fine-tune the gripping parameters. To get full access to all the parameters, "expertZ fine tuning mode" must be switched off. ► Click the "service" button. Ö This opens the "Service" window. ► In the "Application settings" area, switch off the "expertZ fine tuning mode." Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • •... -
Page 31: Testing The Gripper With Scm
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8.15 Testing the gripper with SCM Test each adjustment in expertZ mode first, then save the desired recipe again. This is the only way to re-use the data after a cold start of the SCM from the robot. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • • •... -
Page 32: Commissioning The Scm/Hmi Software
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 9 Commissioning the SCM/HMI software 9.1 Switching on the robot 1. First, switch on the robot. • In the "Initialize" dialog field, click the "Power OFF" LED display and the "ON" button. • Once the robot has started up and is in no-load operation, click the "Start" button. 2. The robot is now in normal mode. • Click the "Exit" button to close the "Initialize" dialog field. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 33: Zimmer Comfort Urcap/Usb Stick
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 9.2 Zimmer Comfort URCap/USB stick 1. If the robot is ready, insert the USB stick with the Zimmer Comfort URCap. 2. In the header, select the hamburger menu ... 3..Select "Settings." 4. In the menu on the left side, click on "System" and then select "URCaps." 5. Press the "+" button, select the USB connection to display the content and navigate to "URCap file." Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... - Page 34 INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 6. Select the "Z_UR_ComfortApp_1.3.0" file and press "Open." Z_UR_ComfortApp_1.3.0 7. Press "Restart" to activate the new firmware. • After the restart, the Zimmer GmbH software is installed and ready to use. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • • •...
- Page 35 INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 8. After the restart, check whether the Zimmer GmbH file is installed correctly. This requires that the green check is visible in the "Active URCaps" field. 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 36: New Gripper Configuration
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 9.3 New gripper configuration 9.3.1 Selecting the connection ► First, select the connection being used. Ö To do so, select the controller I/O for the gripper in the startZ box. ► Then, press the "next" button. 9.3.2 Controller I/O: Number of grippers ► The number of grippers to which the controller I/Os are to be connected must be selected here. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 37: Controller I/O: Gripper Series
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 9.3.3 Controller I/O: Gripper series ► "Advanced" must be selected here. 9.3.4 Controller I/O: Command connections ► Here, the robot output number must be made to match the digital SCM input function. Ö The wiring must be done exactly according to this screen template. Ö If this screen is displayed for the first time, some standard assignments are displayed. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 38: Controller I/O: Status Connections
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots Ö The wiring supplied in the startZ box corresponds to the default assignment. Ö If the default assignment is unchanged and the "next" button is used to continue, the following prompt is displayed: ► Confirm with "Yes." Ö The connection assignment is saved and the next screen for the status connections appears. 9.3.5 Controller I/O: Status connections ► Here, the robot input number must be made to match the digital SCM output function here. Ö The wiring must be done exactly according to the screen displayed. Ö If this screen is displayed for the first time, some standard assignments are displayed. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... - Page 39 INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots Ö The wiring supplied in the startZ box corresponds to the default assignment. Ö If the default assignment is unchanged and the "next" button is used to continue, the following prompt is displayed: ► Confirm with "Yes." Ö The next screen appears for manual operations. 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 40: Controller I/O: Manual Control
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 9.3.6 Controller I/O: Manual control ► Here, it is possible to test the previously completed gripper setup. Ö The different gripper functions can be operated with the help of buttons on the screen. Ö The status can be displayed in the lower part of the screen. NOTE Ö For this test, the robot and SCM must be wired together. Furthermore, the robot, SCM and gripper system must be switched on. Ö If necessary, the motor must be started with "MotorOn." The workpiece sets are addressed using the "workpiece bit numbers." These "workpiece bits" are available externally as digital I/Os of the SCM. The desired workpiece must be addressed by setting the "workpiece bit numbers." The following table shows the relationship between the bit setting and the workpiece number. Ö Value = 0 means the bit signal is not set. Ö Value = 1 means the bit signal is set. WP_Bit1 WP_Bit0 Workpiece1 (default) Workpiece1 Workpiece2 Workpiece3 Zimmer GmbH... - Page 41 INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots The gray command button shown below indicates the following: • The assigned output is set (logically true). The respective status LED is switched on (green): • While the input of the status signal is set (logically true). The following command buttons are the toggle buttons that can be switched on and off individually regardless of the other commands: • "Reset" • "MotorOn" • "WP_Bit0" • "WP_Bit1" • "WP_Bit2" • "WP_Bit3" The following command buttons are mutually exclusive- If the user selects a button of this group, every previously selected button in this group is deselected. • "Grip" • "Release" • "Homing" • "Reset" Ö It is possible to navigate back to the connection assignment pages to adjust the assignment for the wiring if needed. Ö Click the "next" button to complete the setup of the gripper.
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Page 42: Controller I/O: Saving The Gripper Configuration
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 9.3.7 Controller I/O: Saving the gripper configuration If the setup for all connected grippers is completed, the "Save installation" screen is displayed. Ö From this point onwards, the gripper configuration can also be used in the program with the supplied Zimmer nodes. NOTICE Please note that the settings are still temporary and should be saved in the installation file! The following chapter is only to be used in case of a deviating wiring configuration between the SCM and robot. 9.3.8 Controller I/O: Adjusting the connection assignment Ö If an I/O is assigned to a command, this is indicated by the green LED display next to the I/O button. Ö The assignment of a command to an I/O is displayed by adding the I/O name to the command button. Ö If a standard connection is not possible for any reason, the assignment can be adjusted by re-assigning or enabling the required commands. Ö All manipulations that apply to command connections also apply to status connections. Zimmer GmbH Im Salmenkopf 5... - Page 43 INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 9.3.8.1 Assigning a new command Ö It is possible to adjust the connection assignment as needed. Ö In order to map the command to a controller I/O, a command button must first be selected. • e.g. "WP_Bit2" Ö Then, press the button of the desired I/O. • "CO0" The name of the I/O is added to the label of the command button as graphical feedback that the assignment was successful. • "WP_Bit2 (CO0)" Ö The command is mapped to the controller I/Os and can be used both in the program as well as for the manual control. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ...
- Page 44 INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 9.3.8.2 Enabling the command assignment Ö It is possible to enable the existing command connection assignment as needed. Ö To enable the existing command assignment, first select the command button. • e.g. "Reset (DO2)" Ö Then, press the same command button. The name of the I/O is removed from the label of the command button as graphical feedback that the mapping is enabled. • e.g. "Reset" Ö The command is removed both from the program as well as from the manual control. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com...
- Page 45 INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 9.3.8.2 Re-assigning the command assignment Ö It is possible to change the existing command connection assignment as needed. Ö To change the existing command assignment, the command button must first be selected. • e.g. "MotorOn (DO3)" Ö Then, press the button of the desired I/O. • e.g. "DO4" The name of the I/O is changed to the new I/O name in the label of the command button as graphical feedback that the re-assignment as successful. • e.g. "MotorOn (DO4)" Ö The command is re-arranged to the I/O of the other controller. Ö This can be used both in the program as well as for the manual control. Ö The previous I/O is not free; see "DO3." Ö Example: • After "DO4" has been re-assigned to the "MotorOn (DO4)" command, the previous "DO4 assignment" is now approved to the command "reference run (DO4)" and is indicated by "reference run" without an added I/O name. Zimmer GmbH...
- Page 46 INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 9.3.8.3 Re-establishing the standard assignment To restore the standard assignment, you must return to chapter 9.3.3. Ö The gripper series is changed here and confirmed with "next." Ö As a result, the previous settings for the gripper are deleted. Ö You must return to chapter 9.3.3 and repeat the setup steps. Ö At this point, the gripper can be used in the program node. NOTICE Please note that the settings are still temporary and should be saved in the installation file! 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 47: Robot Cold Start After Successful Zimmer Installation
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 9.4 Robot cold start after successful Zimmer installation ► Click URCaps on the "Installation" tab, then select "Zimmer." The following screen is displayed if an available (previously made) setup is found for two grippers: Ö If one of these buttons is selected, the screen for manual operation appears. Ö Here, it is possible to operate the gripper manually and view the status. Please note that this screen does not appear if the available setup is only found for one gripper. Ö In this case, the screen for manual operation is shown directly. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... - Page 48 INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots Ö Pressing the "delete" button brings up the prompt as shown on the following screen. ► Confirm with "Yes." Ö The existing setup is deleted. Ö The screens for the new gripper configuration are displayed. 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 49: Operation
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 10 Operation The Zimmer Comfort URCap can be found on the left side of the "Polyscope program" tab under the "URCaps/Zimmer" section. The chapter „9.3.7 Controller-I/O: Speichern der Greiferkonfiguration“ describes how the Zimmer node can be used in the robot program. 10.1 Zimmer gripper control principle Preparation (only for advanced grippers): 1. Reference run, if necessary (Z_Homing) 2. Check if the reference run is OK (Z_IsHomingOk or Z_IsHomingSuccess) 3. Switch on motor (Z_MotorOn) 4. Check whether the motor is switched on (Z_IsMotorOn) 5. If no error (Z_IsError), prepared Operation A (advanced) 1. I f more than one workpiece is used, adjust the workpiece ( Z_ChangeWp + number) that was preconfigured with Zimmer IO-Link HMI 2. -
Page 50: Overview Of Generated Robot Commands
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 10.2 Overview of generated robot commands The following table shows all gripper commands available in the robot program sequence (automatic mode). Note that not all commands are available to the gripper after a successful configuration. The commands are generated according to the connection mapping in 9.3.4 and 9.3.5. Command name Description Gripper family Z_Release Moves the gripper jaws to release a workpiece. All grippers. Z_Grip Moves the gripper fingers to grip a workpiece. All grippers. This command switches the motor on if all necessary preconditions Z_MotorOn All advanced grippers. are met. Z_MotorOff This command switches the motor off. All advanced grippers. Z_Homing This command moves the gripper jaws to the reference position. All advanced grippers. This command sets the direction marker in the gripper to FALSE. Z_Reset This is helpful if you want to move the gripper twice in one direction All IO-Link grippers. - Page 51 INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots This command checks the status signals Act_WP_Bit and sets the result variable Z_IsWpChanged1_Result for gripper 1 and tool IO All IO-Link grippers in a gripper or Z_IsWpChangedPos2_Result for gripper 2. Z_IsWpChanged single gripper scenario. The result variable is TRUE if the status signals match the selected workpiece number. This command waits 3 seconds and checks the error status signal and then sets the result variable Z_IsHomingSuccess1_Result for gripper 1 and tool IO gripper or Z_IsHomingSuccess2_Result for gripper 2. Z_IsHomingSuccess All advanced grippers. The result variable is TRUE if the status signal is not set. This command can be used to check the result of the Z_Homing command if only the IsError signal is wired with the robot control IO without the IsHomingOk signal of the SCM. The commands "Z_ChangeWp" or "Z_IsWpChanged" have additional parameters for setting the required workpiece numbers. Ö e.g. Workpiece profile number two. The commands for checking the status have additional options for advanced use. In the standard case, the options are deactivated and the command checks the status signal continuously in an endless loop. Ö Until the result is true. The endless loop can be interrupted by activating a timeout timer. To activate the time exceeded timer (3 seconds) for a command, the checkbox "Enable timeout for wait loop" must be set. You can leave the endless loop by activating the "Read state into variable only" checkbox. Ö In this case, the result variable is set according to the signal state without waiting until the check is true.
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Page 52: Example Of The Use Of Generated Robot Jobs
INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots 10.3 Example of the use of generated robot jobs Other examples can be found in the "Examples" folder in the Download area. 11 Troubleshooting INFORMATION For troubleshooting in case of gripper malfunctions, please observe the corresponding installation and operating instructions of the gripper. The installation and operating instructions applicable for your gripper can be found on our website. Only those documents currently available on the website are valid. Please contact Zimmer Customer Service if you have any questions. 12 Accessories/scope of delivery INFORMATION If any accessories not sold or authorized by Zimmer GmbH are used, the function of the Zimmer startZ box cannot be guaranteed. Zimmer GmbH accessories are specifically tailored to the individual products. Optional accessories and those included in the scope of delivery can be found on our website. 13 Decommissioning/disposal INFORMATION If the products of the Zimmer startZ box reach the end of their service life, they can be completely disassembled and disposed of.