Zimmer GEP2000 Series Installation And Operating Instructions Manual
2-jaw parallel gripper electric
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- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS GEP2000 series 2-jaw parallel gripper electric DDOC01113 THE KNOW-HOW FACTORY www.zimmer-group.de...
- Page 2 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 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
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series Contents Supporting documents ................................. 5 Notices and graphics in the installation and operating instructions ........................5 Safety notices ..................................6 Proper use ..................................... 7 Personnel qualification ................................. 7 Product description ................................8 Possible applications ........................................8... - Page 4 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series Minimum travel path ........................................29 “Easy Startup” ...........................................29 8.7.1 “Easy Startup” GEP2000IL series................................30 Starting gripping movement .....................................31 Repeated movement in the same direction ................................31 8.9.1 “Save recipe” .......................................32 8.10 Recipe examples “Load recipe” ....................................33 Operation .....................................
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Page 5: Supporting Documents
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 1 Supporting documents NOTICE Read through the installation and operating instructions carefully before installing the product! The installation and operating instructions contain important notices for your personal safety. They must be read... -
Page 6: Safety Notices
• Use of the product under extreme conditions, such as aggressive fluids or abrasive dusts • Additional drilled holes or threads Ö Zimmer GmbH shall accept no liability for any damage caused by improper use. The operator bears sole responsibility. -
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
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 9: Function
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 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 10: Led Display
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 6.1 LED display Power/communication Error Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • • •... -
Page 11: Electrical Specifications
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: 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 13: Installing The Mechanical System
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 7.2 Installing the mechanical system NOTICE Non-compliance may result in material damage. The product can be installed with its base or laterally onto the mounting piece. The following work steps must be observed during installation: ►... -
Page 14: 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 15: Installing The Power Supply Of Gep2000Io-05
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 7.5 Installing the power supply of GEP2000IO-05 7.5.1 Installing the wiring NOTICE Non-compliance may result in material damage. A correct pin assignment must be ensured. Ö The product may be ruined and malfunction. -
Page 16: Installing The Power Supply Of Gep2000Io-00
Ö The cycle time must therefore be reduced as the temperature increases. 7.9 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 17: Commissioning
In order to prevent damage to the product, the resistance between the analog output and GND must be at least 10 kΩ. INFORMATION Ö The switching sequence only applies to the digital versions of the GEP2000 series. • GEP2000IO-00 • GEP2000IO-05 The current jaw position is scaled from 0 V to 10 V and is issued via PIN 5 (analog output). -
Page 18: Switching Sequence Of Gep2000Io-05 And Gep2000Io-00 For Teaching-In The End Position
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 8.1.3 Switching sequence of GEP2000IO-05 and GEP2000IO-00 for teaching-in the end position “Adjust” movement of GEP2000IO-05 and GEP2000IO-00 This function is used to teach in the end positions of the product (GEP2000IO-05 and GEP2000IO-00) again. -
Page 19: Commissioning The Gep2000Il-00
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 8.2 Commissioning the GEP2000IL-00 8.2.1 Process data There is an option to control the product only with the process data that is transmitted in each cycle. Outputs: Process data from the IO-Link master to the product! -
Page 20: Iodd Import
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 8.2.2 IODD import ► Importing the IODD (device description) into the control system. Ö Go to our website. Ö Select the desired product and download the corresponding .zip file via “Download IODD Link.”... -
Page 21: Parameters
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 8.4 Parameters 8.4.1 “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 22 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 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.
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Page 23: 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. Ö For the A-variants of the product only "DeviceMode" 60, 70 and 100 are available! Input... - Page 24 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series Current feed profile for a gripping process with “DeviceMode” 63, 73, 103 Move Workpiece 500 ms command gripped after a gripped workpiece Section Description standstill movement subsequent current feed workpiece loss detection...
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Page 25: Workpieceno" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 8.4.3 “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 26: 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 27: Statusword" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 8.4.7 “StatusWord” parameter Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 "ControlWord" "ControlWord" "Undefined- "WorkPo- "TeachPo- "BasePo- Byte 1 "Error" "DataTransferOK" 0x200 0x100 Position"... -
Page 28: Diagnosis" Parameter
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series Name "StatusWord" Data format UINT16 Permission Read Transfer Cyclical Value range 0 to 65535 8.4.8 “Diagnosis” parameter The value returned in the “Diagnosis” parameter corresponds to the error code. Refer to the “Error diagnosis” section Name "Diagnosis"... -
Page 29: Cold Start
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 8.5 “Cold start” For proper function, we recommend that the actuator and sensor voltage be supplied with power separately. PIN 1 and PIN 3 are used to set the sensor power supply and must be switched on first. -
Page 30: Easy Startup" Gep2000Il Series
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 8.7.1 “Easy Startup” GEP2000IL series In the following example code, you see the first-time initialization of the product and the transfer of the process parameters. (*Initialization of the product, first-time move command = EasyStartUp Example*) IF bStart = TRUE THEN iStep := 10;... -
Page 31: Starting Gripping Movement
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 8.8 Starting gripping movement The product 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 32: Save Recipe
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 8.9.1 “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 33: Recipe Examples "Load Recipe
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 8.10 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 34: 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 Adjustable gripping force of GEP2000IO-05 and GEP2000IO-00 The gripping force can be adjusted in four stages using a rotary switch. -
Page 35: Gripping Force Charts
2-jaw parallel gripper, electric, GEP2000 series 10 Gripping force charts INFORMATION For information on the gripping force charts, please visit our website. Please contact Zimmer Customer Service if you have any questions. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 36: Error Diagnosis
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 11 Error diagnosis 11.1 Troubleshooting display Error code Error Possible cause Measure No error • Actuator power supply is not connected. Actuator power supply is not ► Check the actuator power 0x100 •... - Page 37 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series Error code Error Possible cause Measure ► Adjust the "DeviceMode" ► Universal = 100 ► Universal operation with a subsequent current feed = 103 The configured "DeviceMode" is • Incorrect value in the ►...
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Page 38: Led Status Display For Errors Of Gep2000Io-00
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 11.2 LED status display for errors of GEP2000IL-00 Green LED lights up continuously. • No error Red LED flashes every second. • No IO-Link communication Green LED lights up continuously. -
Page 39: Maintenance
13 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 40: Rohs Declaration
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 16 RoHS declaration 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 41: Declaration Of Incorporation
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 18 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 42: Declaration Of Conformity
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series 19 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 43 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • • •...
- Page 44 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 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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