Zimmer GEP2000IL-03 Installation And Operating Instructions Manual
2-jaw parallel gripper electric
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Summary of Contents for Zimmer GEP2000IL-03
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS GEP2000IL-03 2-jaw parallel gripper electric DDOC01219 THE KNOW-HOW FACTORY www.zimmer-group.de...
- Page 2 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series Parameter explanation (glossary) Parameters Explanation The product is controlled using the "ControlWord." ControlWord The "ControlWord" is bit-exclusive, which means that only one bit at a time can be active in the "Word."...
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Page 3: Table Of Contents
Protection class .........................................10 Technical data..........................................10 Installation .................................... 11 General installation information ....................................11 Installing the product ........................................12 Installing the power supply .......................................12 Installing the power supply of GEP2000IL-03 .................................13 7.4.1 Installing the wiring .....................................13 Static charge ..........................................13 Heat dissipation .........................................13 Installing accessories ........................................13 Commissioning ................................... - Page 4 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 8.8.1 "Save recipe" .......................................31 Recipe examples "Load recipe" ....................................32 Operation ..................................... 33 "IO-Link" adjustable gripping force ..................................33 Emergency release ........................................33 10 Error diagnosis ..................................34 10.1 Troubleshooting display ......................................34 11 Accessories/scope of delivery ............................36 12 Maintenance ..................................
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Page 5: Supporting Documents
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: • Installation and operating instructions •... -
Page 6: Safety Notices
► Operate the product only when it is in a technical condition that corresponds to the guaranteed parameters and operating conditions. Ö Zimmer GmbH shall accept no liability for any damage caused by improper use. The user bears sole respon- sibility. -
Page 7: Personnel Qualification
For information on the forces and torques for the following product, please refer to our website at www. zimmer-group.com: • GEP2000 series (Technical Data Sheet) Please contact Zimmer Customer Service if you have any questions. 5.3 Type plate A type plate is attached to the housing of the product. The part number... -
Page 8: Function
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 6 Function The gripper jaws of the product are arranged parallel to each other on two opposing guide rails and can be moved relative to each other. The force of the motor is transmitted over a worm drive. Racks and a pinion generate the movement of the gripper jaws and synchronize these movements. -
Page 9: Led Display
Please contact Zimmer Customer Service if you have any questions. 6.3 Control INFORMATION For information on the control, please refer to our website at www.zimmer-group.com. Please contact Zimmer Customer Service if you have any questions. Zimmer GmbH Im Salmenkopf 5... -
Page 10: Verified Configuration Examples
For information on verified configuration examples, please refer to our website at www.zimmer-group.com. • GEP2000 series (Technical Data Sheet) Please contact Zimmer Customer Service if you have any questions. 6.5 Self-locking mechanism INFORMATION The product has a mechanical self-locking mechanism to ensure that the workpiece remains held by the product in the event of power supply loss or failure (e.g. -
Page 11: 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 12: Installing The Product
7.3 Installing the power supply NOTICE 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! ► Do not fall below this bending radius. -
Page 13: Installing The Power Supply Of Gep2000Il-03
Ö The cycle time must therefore be reduced as the temperature increases. 7.7 Installing accessories NOTICE Before installing an accessory, make sure it is suitable for use with the selected variant. Please contact Zimmer Customer Service if you have any questions. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 14: Commissioning
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 8 Commissioning 8.1 Commissioning the GEP2000IL-03 8.1.1 Process data The option exists for the gripper to be controlled only by the process data transmitted in each cycle. Outputs: Process data from the IO-Link master to the gripper! -
Page 15: Iodd Import
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series When the hardware configuration is complete and the IO-Link connection to the product is established, some data must be visible in the process input data. Ö Some control systems demand a byte swap to bring this process data into a logical sequence. -
Page 16: Parameters
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 8.3 Parameters 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 17 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series Bit 0: "DataTransfer" Setting this bit causes the product to acquire the data transmitted in the process data ("WorkpieceNo" = 0) or the data stored in the workpiece data records ("WorkpieceNo" = 1 to 32) as the active data set.
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Page 18: Devicemode" Parameter
8.3.2 "DeviceMode" parameter "DeviceMode" is used to select one of the following travel mode options: universal operation, outside gripping or inside gripping. INFORMATION For operation of the product, Zimmer GmbH recommends "DeviceMode" 63, 73 and 103. Input Mode Description Like Mode 60, but with an activated subsequent current feed for a time of 500 ms when the direction of movement is "Work."... - Page 19 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 8.3.2.1 "positionprofile" movement profile This mode can be used for positioning the gripper or for form-fit gripping. DriveVelocity [%] 0-Point BasePosition [1/100 mm] WorkPosition [1/100 mm] Parameters Description BasePosition "Open position"...
- Page 20 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 8.3.2.2 "forceprofile" movement profile This mode can be used for friction-locked gripping. The gripping force is built up by the movement speed of the jaws and the motor current. When gripping a workpiece, an independent mechanical locking system in the mechanical system is reached that makes it possible to hold the workpiece de-energized.
- Page 21 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series NOTICE For exact positioning to the set "WorkPosition," and "BasePosition," the gripper starts with the braking process shortly before reaching the desired position. To reach full gripping force reliably, the following parameters can be used to disable the braking before the target position: "DeviceMode"...
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Page 22: Workpieceno" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 8.3.3 "WorkpieceNo" parameter The workpiece number is used for selecting the previously stored workpiece data, as well as for selecting the "WorkpieceNo" data record in which the current process data is stored. -
Page 23: Gripforce" Parameter
4 stages. INFORMATION For the values for the gripping force, refer to the technical data sheet on our website 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 24: Baseposition" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 8.3.7 "BasePosition" parameter The "BasePosition" defines the target position in the "MoveToBase" direction. It must always be less than the "WorkPo- sition." The gripper verifies this and, if necessary, indicates an error message. -
Page 25: Statusword" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 8.3.10 "StatusWord" parameter Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 "ControlWord" "ControlWord" "UndefinedPo- Byte 1 "Error" "DataTransferOK" "WorkPosition" "TeachPosition" "BasePosition" 0x200 0x100 sition"... -
Page 26: Diagnosis" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series The following steps are required for the "fault acknowledgment": • If the gripper has a malfunction, the error bit is set in the status word. • This malfunction can be reset by sending "ControlWord" = 0x8000 . -
Page 27: Actualposition" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 8.3.12 "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 28: Minimum Travel Path
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 8.4 Minimum travel path The gripper requires a certain "minimum travel path" to move to the desired position. Design size Minimum travel path GEP2006IL-03 1.0 mm per gripper jaw GEP2010IL-03 1.0 mm per gripper jaw... -
Page 29: Easy Startup
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 8.6.1 "Easy Startup" In the following example code, you see the first-time initialization of the gripper and the transfer of the process parameters. (*Initialization of the gripper, first-time move command = EasyStartUp Example*) IF bStart = TRUE THEN iStep := 10;... -
Page 30: Starting Gripping Movement
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 8.7 Starting gripping movement The gripper receives the move command by sending the "ControlWord" = 0x0100 or "ControlWord" = 0x0200 . The movement order must be pending for as long as it takes until the desired position is reached. -
Page 31: Save Recipe
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 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 32: Recipe Examples "Load Recipe
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 8.9 Recipe examples "Load recipe" A schematic program example for loading a new recipe is shown in the following. (*Load workpiece recipes in Structured Text (ST)*) IF bLoad = TRUE THEN iStep := 10;... -
Page 33: Operation
The gripper jaws can be opened using the emergency release if the energy supply drops off. Please contact Zimmer Customer Service if you have any questions. 9.1 "IO-Link" adjustable gripping force For the IO-Link variant, the gripping force is adjusted conveniently by means of the control system. -
Page 34: Error Diagnosis
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 10 Error diagnosis 10.1 Troubleshooting display Error code Error Possible cause Measure No error • Actuator power supply not connected Actuator power supply is not ► Check the actuator power 0x100 •... - Page 35 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series Error code Error Possible cause Measure ► Confirm the newly transmitted • Process data sent by the process data with a 0x309 "TeachPosition" not transferred. master has been changed. "Handshake" "ControlWord" = 0x1.
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Page 36: Accessories/Scope Of Delivery
2-jaw parallel gripper, electric, GEP2000IL-03 series 11 Accessories/scope of delivery INFORMATION If any accessories not sold or authorized by Zimmer GmbH are used, the function of the product cannot be guaranteed. Zimmer GmbH accessories are specifically tailored to the individual products. -
Page 37: Decommissioning And Disposal
If it is not possible to properly disassemble and dispose the product, the product can also be sent back to Zimmer GmbH. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Zimmer GmbH... -
Page 38: Rohs Declaration
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series 15 RoHS declaration In terms of the EU Directive 2011/65/EU Name and address of the manufacturer: Zimmer GmbH Im Salmenkopf 5, 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 39: Declaration Of Incorporation
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 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 Im Salmenkopf 5, 77866 Rheinau, Germany ... -
Page 40: Declaration Of Conformity
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 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 Im Salmenkopf 5, 77866 Rheinau, Germany +49 7844 9138 0 ...
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