Zimmer GEP5000IL Series Installation And Operating Instructions Manual
2-jaw parallel gripper 3-jaw concentric gripper
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Summary of Contents for Zimmer GEP5000IL Series
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS 2-jaw parallel gripper 3-jaw concentric gripper GEP5000IL/GED5000IL series DDOC00211 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 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
Parameters ..........................................25 8.4.1 "ControlWord" parameter ...................................25 8.4.2 "DeviceMode" parameter ....................................27 8.4.3 "WorkpieceNo" parameter ..................................28 8.4.4 "PositionTolerance" parameter ...................................28 Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • •... - Page 4 16 Decommissioning/disposal ............................... 47 17 RoHS declaration ................................48 18 REACH declaration ................................48 19 Declaration of Incorporation .............................. 49 20 Declaration of Conformity ..............................50 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
They must be read and understood by all persons who work with or handle the product during any phase of the product life time. The documents listed below are available for download on our website www.zimmer-group.com: • Installation and operating instructions •... -
Page 6: Safety Notices
• 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. Ö Zimmer GmbH shall accept no liability for any damage caused by improper use. The operator bears sole responsibility. -
Page 8: Product Description
An incorrect configuration or selection can lead to malfunction. The product is a secure quick-change system in accordance with DIN ISO 13849-1. The basic and proven safety principles from DIN EN 13849-1 can be complied with only if original parts from Zimmer GmbH are used. 5.1 Possible applications... -
Page 9: Function
Integrated control module Mounting and positioning Power supply BLDC motor Removable centering sleeve Cutaway view of the GED5000IL Cutaway view of the GEP5000IL Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 10: Led Display
Gripper is at workpiece position ("TeachPosition") Gripper is at work position ("WorkPosition") Gripper is at the taught in "TeachPosition" Both of the two LEDs light up Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 11: Led Display Gep/Ged5000Il
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. 6.4 Verified configuration examples INFORMATION For information on verified configuration examples, please refer to our website at www.zimmer-group.com. -
Page 12: Minimum Travel Path Of The "Digital" Gep/Ged5000Io And "Io-Link" Gep/Ged5000Il
GEP/GED5008IO/IL 16 mm - end position - travel distance = 12,60 mm GEP/GED5010IO/IL 20 mm - end position - travel distance = 16,60 mm Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 13: Movement Profile Of The Travel Of The Gripper Toward The "Baseposition" (Inside Gripping)
GEP/GED5008IO/IL 16 mm - end position - travel distance = 12,60 mm GEP/GED5010IO/IL 20 mm - end position - travel distance = 16,60 mm Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
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: Installing The Mechanical System
► Position the gripper on the designated mounting piece using the centering sleeves ► Use the mounting screws to secure the gripper to the mounting piece. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 16: Installing Ged5000Il
► Position the gripper on the designated mounting piece using the mounting pins ► Use the mounting screws to secure the gripper to the mounting piece. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 17: 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! ► Freely suspended cables must be secured to prevent excessive motion loads or pinching. -
Page 18: Installing The Power Supply Gep5000Il-00/Ged5000Il-00
The following steps must be carried out for commissioning or installing the product with IO-Link: ► Connect the product to the IO-Link master. ► Secure the voltage supply. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 19: Installing The Power Supply Gep5000Io-00/Ged5000Io-00
► Secure the voltage supply. Ö A voltage supply between PIN 6 and PIN 8 is necessary for operation. Ö A jaw movement is actuated by a 24 V signal to PIN 1. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 20: Static Charge
7.8 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 Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 21: Commissioning
The movement profile only applies to the digital gripper of the GEP5000IO-00/GED5000IO-00 series. 24 V Eingang 1 DIR Imax ≤ 5 A Stromaufnahme ►◄ Greiferpostion ◄► Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 22: Teaching In "Teachposition
The factory settings of the end positions are changed. To restore the factory settings, the end positions must be taught in without gripper fingers and without a workpiece! Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 23: Commissioning For Gep5000Il-00/Ged5000Il-00
Ö If bit 6 is active in the first byte, the bytes already have the correct sequence and commissioning can be continued. Ö If bit 6 is active in the second byte, a byte swap still has to be applied here. Ö For further information, refer to the "StatusWord" section. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 24: Iodd Import
Following this, the "ControlWord" = 0 can be sent, which ends the data transfer. The operator automatically concludes the data transfer with "ControlWord" = 0x00 and the corresponding response from the product via "Statusbit" 12 = FALSE . Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 25: Parameters
► Setting this bit tells the product to save the current position as the "TeachPosition" in the selected "WorkpieceNo." Ö This only works if there is no "0" that is transmitted in the workpiece number! Zimmer GmbH Am Glockenloch 2... - Page 26 ► This bit can be used to acknowledge all errors that can be reset and thus reset them. ► You can find out whether an error is present from the error list. INFORMATION For the error list, please refer to the „Fehlerdiagnose“ section. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ...
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Page 27: 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" 60, 70 and 100. Ö "DeviceMode" 1, 2 and 3 are also available! Input... -
Page 28: Workpieceno" Parameter
With this setting, 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: Gripforce" Parameter
The values for the gripping force can be found on the technical data sheet on our website. This data varies within the series, depending on the specific design. Please contact Zimmer Customer Service if you have any questions. Name "GripForce"... -
Page 30: Statusword" Parameter
The "TeachPosition" tolerance can be adjusted in another process parameter. For sensing the correct position via the ACTUAL position, the tolerances and fluctuations of the value must be observed during programming! Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 31: 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 Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 32: Cold Start
A "handshake" is required to transmit the process parameters to the product. INFORMATION For information on the "Handshake," refer to section „Verfahren der Datenübertragung „Handshake““. Ö Code example "handshake" Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 33: Easy Startup
(*Handshake is completed, product now moves to WorkPosition (0x200 or 512(decimal) = MoveToWork)*) iStep := 100; END_IF 100: ; (*continue with the program*) END_CASE Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 34: Starting Gripping Movement
AND "ControlWord0x200" = FALSE in the ControlWord) *) ControlWord := 512; (*Moves toward WorkPosition again*) iStep :=100; END_IF; 100: ; (*continue with the program*) END_CASE Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 35: Save Recipe
(*Queries the completion of the data transfer, "DataTransferOK" = FALSE, this process may last several seconds*) iStep := 0; (*Has storage been completed?*) END_IF; END_CASE Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 36: Recipe Examples "Load Recipe
:= 0; (*Handshake is completed, the parameters from the third recipe are now taken over in the current process parameters*) END_IF; END_CASE Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 37: Operation
Fensterbreite 1 ... 5 Wert ändern Krafteinstellung Wert Kraftmodus 1 ... 5 set 3 Sek. Hauptmenü Anzeige Fehlerdiagnose 3 Sek. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • •... -
Page 38: Menu Cycle Course Of Action For Gep5000Io/Ged5000Io
INFORMATION Important for handling the gripper! If no input occurs after three minutes, the gripper exits the menu without saving. Please contact Zimmer Customer Service if you have any questions. • Main menu ► Press SET for 3 seconds Ö The menu display LEDs will flash •... -
Page 39: Menu Settings For Gep5000Io/Ged5000Io
9.4 Menu settings for GEP5000IO/GED5000IO 9.4.1 Menu 1: Force setting INFORMATION For information about setting the force, please visit our website. Please contact Zimmer Customer Service if you have any questions. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 40: Menu 2: Teach Area "Width
Width [5] 9.4.3 Menu 3: "Gripper mode" INFORMATION For information about gripper mode, please visit our website. Please contact Zimmer Customer Service if you have any questions. 9.4.4 Menu 4: Teach area "Position" "Position" teach area Offset [mm] Offset [1] - 0.8... -
Page 41: Error Diagnosis
► Permitted range: 0 < "Position- Tolerance" ≤ 255 The device has an incorrect • Product does not have any 0x305 ► Zimmer Customer Service reference position. reference position. ► Adjust the "DeviceMode" ► Universal = 100 The configured "DeviceMode" is •... - Page 42 • Travel path of the product is ► Reset via "ControlWord" = impeded. 0x8000. 0x406 System error • Internal system error ► Zimmer Customer Service 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 43: Troubleshooting Display For Gep5000Io/Ged5000Io
• Restore the gripper's freedom • Gripper is jammed of movement Motor has strong excess current • Internal error ► Zimmer Customer Service Motor has excess current in idle • Internal error ► Zimmer Customer Service mode • Provide for sufficient •... - Page 44 Error code Error Possible cause Measure • The guide exhibits difficulty of Gripper does not reach the target ► Zimmer Customer Service movement speed “Jaw position" sensor has an error • Internal error ► Zimmer Customer Service • Internal error ►...
- Page 45 Errors remain active until a switchover of the DIR signal or a zero crossing of the product's voltage supply. An error can therefore be acknowledged with a switchover of the DIR signal. Please contact Zimmer Customer Service if you have any questions. 12 Table with acyclic data (ISDU) INFORMATION IO-Link distinguishes between cyclic process data (PDU) and acyclic data (ISDU).
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Page 46: Maintenance
Even though the product is maintenance-free as mentioned above, perform a regular visual inspection to check for any corrosion, damage or contamination. We recommend allowing maintenance and seal replacement to be carried out by Zimmer Customer Service. Dismantling and reassembling the product without authorization may result in complications as special installation equipment is required in some cases. -
Page 47: Accessories/Scope Of Delivery
14 Accessories/scope of delivery INFORMATION If any accessories not sold or authorized by Zimmer Group are used, the function of the product cannot be guaranteed. Zimmer Group accessories are specifically tailored to the individual products. Optional accessories and those included in the scope of delivery can be found at www.zimmer-group.com. -
Page 48: Rohs Declaration
GEP5000/GED5000 electric gripper series STRUCTIONS: 17 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 +49 7844 9138 80 www.zimmer-group.com ... -
Page 49: Declaration Of Incorporation
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, 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 ... -
Page 50: Declaration Of Conformity
STRUCTIONS: 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, 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 ... - Page 51 INSTALLATION AND OPERATING IN- GEP5000/GED5000 electric gripper series STRUCTIONS: Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • • •...
- Page 52 INSTALLATION AND OPERATING IN- GEP5000/GED5000 electric gripper series STRUCTIONS: Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • • •...
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