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Related Manuals for Zimmer HRC-05 Series
Summary of Contents for Zimmer HRC-05 Series
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS HRC-05 series 2-jaw angular grippers DDOC00270 THE KNOW-HOW FACTORY www.zimmer-group.com...
- Page 2 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 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." The value "ZERO" is also permitted.
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Page 3: Table Of Contents
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series Contents 1. Supporting documents ...............................5 2. Safety notes ..................................5 3. Proper use ....................................6 4. Personnel qualification ...............................6 5. Product description ................................6 Possible applications ......................................6 Forces and torques ......................................6 Type plate .........................................7 Criteria for use in collaborative applications .............................. - Page 4 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series 9. Operation ...................................27 “IO-Link” ..........................................27 9.1.1 "IO-Link” adjustable gripping force................................27 10. Error diagnosis ..................................28 11. Maintenance ..................................30 12. Accessories/scope of delivery ............................30 13. Transportation/storage/preservation ..........................30 14. Decommissioning and disposal ............................30 15.
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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 serial 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... -
Page 8: Function
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 9: Led Display
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series LED display 6.2.1 "IO-Link" LED display The colors of the LED ring reflect the status of the gripper. The LED ring enables a 360° status display. Status Function On continuously "TeachPosition"... -
Page 10: Fused Configuration
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: Installing A Gripper With A Central Cable Gland
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series 7.2.2 Installing a gripper with a central cable gland HRC-05-072833 The gripper and the robot are connected to each other by an adapter flange The gripper must be installed on a mounting surface in accordance with the flatness specifications. -
Page 12: Installing A Gripper With A Lateral Cable Gland
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series 7.2.3 Installing a gripper with a lateral cable gland HRC-05-072836 The gripper and the robot are connected to each other by an adapter flange The gripper must be installed on a mounting surface in accordance with the flatness specifications. -
Page 13: 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 14: Installing The Pneumatic System
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series 7.3.2 Installing the pneumatic system ► Connect the power supply line to the gripper and the safety valve. Ö Operate in accordance with DIN ISO 8573-1 [4:4:4] NOTICE: Close off any unused pneumatic connections using corresponding dummy plugs. -
Page 15: Installing Accessories
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. 8. Commissioning Commissioning the IO-Link 8.1.1... -
Page 16: Iodd Import
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series 8.1.2 IODD import ► Importing the IODD (device description) into the control system. Ö Call up our website at Ö www.zimmer-group.com Ö Select the desired gripper and download the corresponding .zip file via the "Download IODD" link. -
Page 17: Parameters
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series Parameter 8.3.1 "ControlWord" parameter NOTICE: In the "ControlWord" parameter, only one single bit or the value 0 may be set at a time. Only the values listed in the following table are valid:... -
Page 18: Devicemode" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series Bit 7: "Adjust" ► If no other bit is set in the control word, the "AdjustBit" can be used to execute a readjustment of the end positions of the jaw. -
Page 19: Positiontolerance" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series 8.3.4 "PositionTolerance" parameter This parameter is used to configure the position tolerance with a resolution of 0.01 mm. Thus the value range of 0 to 255 can be used to set a maximum tolerance of 2.55 mm in both directions. -
Page 20: Teachposition" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series 8.3.5 "TeachPosition" parameter “TeachPosition” is used to tell the gripper at which position the workpiece is expected. The “PositionTolerance” functions around this position. Thus the gripper can distinguish whether a correct or incorrect workpiece has been gripped. -
Page 21: Diagnosis" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series Bit 15: "Error" ► Error in the gripper. ► If this bit is active, the error message can be determined using the "Diagnosis" parameter. The following steps are required for the "fault acknowledgment": If the gripper has a fault, the error bit is set in the status word. -
Page 22: Actualposition" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series 8.3.8 “ActualPosition” parameter The parameter "ActualPosition" corresponds to the current position of the gripper jaws relative to the full stroke. The value is specified with a resolution of 0.01 mm. -
Page 23: Easy Startup
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series “Easy Startup” Ö From switching on the gripper to the initial movement. The gripper is to be connected in accordance with its assignment plan. The gripper reports the "StatusWord", "Diagnosis" and "ActualPosition" process data immediately after the internal controller is booted up. -
Page 24: Starting Gripping Movement
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series Starting gripping movement The gripper receives the move command by the “ControlWord” = 0x0100 or “ControlWord” = 0x0200 being sent. ► The movement order must be pending for as long as it takes until the desired position is reached. -
Page 25: Save Recipe
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series 8.8.1 "Save recipe" A schematic program example for saving a new recipe is shown in the following (*Store tool workpiece recipes in Structured Text (ST)*) IF bSave = TRUE THEN iStep := 10;... -
Page 26: Recipe Examples "Load Recipe
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series Recipe examples "Load recipe" For loading a new recipe, a schematic program example is shown in the following. (*Load workpiece recipes in Structured Text (ST)*) IF bLoad = TRUE THEN iStep := 10;... -
Page 27: Operation
For the IO-Link variant, the gripping force is adjusted conveniently by means of the control system. Gripping force charts INFORMATION: For information on the gripping force charts, 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 28: Error Diagnosis
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series 10. Error diagnosis Error code Error Possible cause Measure No error • Actuator power supply not connected Actuator power supply is not ► Check the actuator power • Cable break 0x100 present or too low. - Page 29 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series • Multiple move commands in the same direction Movement order cannot be ► Reset the direction flag and 0x307 executed. resend the move command • Move command transferred despite existing error ►...
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Page 30: 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 31: Rohs Declaration (If Required)
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series 15. RoHS declaration (if required) In terms of the EU Directive 2011/65/EU Name and address of the manufacturer: Zimmer GmbH, 77866 Rheinau, Germany, Im Salmenkopf 5 +49 7844 9138 0 ... -
Page 32: Declaration Of Incorporation
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series 17. 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, 77866 Rheinau, Germany, Im Salmenkopf 5 ... -
Page 33: Declaration Of Conformity
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series 18. Declaration of Conformity In terms of the EC Directive 2014/30/EC on electromagnetic compatibility Name and address of the manufacturer: Zimmer GmbH, 77866 Rheinau, Germany, Im Salmenkopf 5 +49 7844 9138 0 ... - Page 34 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series 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: 2-jaw angular grippers, electric/pneumatic, HRC-05 series Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ● ● ● ● ●...
- Page 36 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw angular grippers, electric/pneumatic, HRC-05 series Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ● ● ● ● ●...
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