Zimmer GEH6000IL Series Installation And Operating Instructions Manual
2-jaw parallel gripper 3-jaw concentric gripper electric
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Summary of Contents for Zimmer GEH6000IL Series
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS GEH6000IL series 2-jaw parallel gripper GED6000IL series 3-jaw concentric gripper electric DDOC00212 THE KNOW-HOW FACTORY www.zimmer-group.com...
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Page 2: Table Of Contents
11.4.9 TeachPosition ........................................24 11.4.10 WorkPosition ........................................24 11.4.11 StatusWord ...........................................25 11.4.12 Diagnosis ..........................................26 11.4.13 ActualPosition ........................................26 11.5 Cold boot ............................................27 11.6 Minimum travel path ..........................................27 Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com Zimmer GmbH Am Glockenloch 2... -
Page 3: Supporting Documents
11.12 DeviceMode 17 ..........................................32 The documents listed below are available for download on our website www.zimmer-group.com: 11.13 Operation modes/movement profiles – GEH6000IL-03-B/GED6000IL-03-B ........................33 11.13.1 DeviceModes GEH6000IL-03-B ..................................33... -
Page 4: Safety Notices
The product can be used for inside gripping. • Additional drilled holes or threads Ö Zimmer GmbH shall accept no liability for any damage caused by improper use. The operator bears sole responsibility. ► Make sure that the power supply is disconnected before you mount, adjust, modify, maintain or repair the product. -
Page 5: Led Display
INSTALLATION AND OPERATING INSTRUCTIONS: GEH6000IL/GED6000IL 6 Functional description 6.1 LED display The gripper jaws and their guide rails of the GEH6000IL series are arranged parallel to each other and can be moved TeachPosition relative to each other. Error The gripper jaws and their guide rails of the GED6000IL series have a 120° offset to each other. -
Page 6: Forces And Torques
► You can find information on our website. If any accessories not sold or authorized by Zimmer GmbH are used, the function of the product cannot be guaranteed. The accessories from Zimmer GmbH are specifically tailored to the individual products. -
Page 7: Installing Geh6000Il
► Verify the permitted load capacity of the required screw connections in accordance with VDI 2230. ► You can find the exact installation positions in the technical data sheet on our website. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 8: Installing Ged6000Il
► Use the straight pin or centering sleeve INFORMATION to position the product on the provided The cables that are used by Zimmer GmbH feature a minimum bending radius of 10 x the outer diameter. mounting piece. ► Do not fall below this bending radius. -
Page 9: Installing The Wiring
► Before installing the accessories, check whether they are suitable for use with the selected variant. ► Transfer the desired DeviceMode. ► You can find information on our website. ► Start the movement. ► Please contact Zimmer Customer Service if you have any questions. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 10: Commissioning
Ö The sent process data of the IO-Link master is now consistent with the process data used in the product. Name Data type StatusWord UINT16 Diagnosis UINT16 ActualPosition UINT16 Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 11: Parameters
Setting this bit tells the product to save the current position as the TeachPosition in the selected WorkpieceNo. This only works if there is no “0” that is transmitted in the workpiece number. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 12: Workpieceno
Data format UINT8 purpose. Depending on the shape of the gripper fingers, the gripper jaws may become jammed in the process. Permission Write ► Please contact Zimmer Customer Service if you have any questions. Transfer Cyclical Value range 0 to 32 11.4.6 DriveVelocity... -
Page 13: Baseposition
Data format UINT16 Permission Write Transfer Cyclical Value range 0.75 to max. jaw stroke of the product + 0.75 mm Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 14: Diagnosis
Bit 11: UndefinedPosition Active if the product is not set to TeachPosition, WorkPosition or BasePosition. For proper function, Zimmer GmbH recommends that the actuator and sensor voltage be supplied with power separately. The sensor supply must be switched on first. -
Page 15: Devicemodes - Behavior Modes
(MoveToBase/MoveToWork) are set in the ControlWord. Reversing the bits results in an immediate stop of the gripping movement. This mode can be used for setting up the gripper positions, for example. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 16: Devicemode 10
Ö This makes it possible to move against the internal end stop at high speed, which can result in jamming of and damage to the product. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 17: Devicemode 17
Ö This makes it possible to move against the internal end stop at high speed, which can result in jamming of and damage to the product. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 18: Installation And Operating Instructions
The movement profile determines the direction in which the workpiece is gripped: • For outside gripping, the movement profile group 60 is used. • For inside gripping, the movement profile group 70 is used. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... - Page 19 However, it is no longer possible to generate the full nominal force because of the lower kinetic energy. Therefore, this movement profile is better suited for flexible/elastic workpieces. The gripping force generated in these movement profiles depends on the elasticity of the workpiece. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
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Page 20: Pre-Positioning - Force Profiles
The movement profile determines the direction in which the workpiece is gripped: • For outside gripping, the movement profile group 80 is used. • For inside gripping, the movement profile group 90 is used. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... - Page 21 ShiftPosition and then with GripForce until the workpiece or the WorkPo- 0x0200 sition is reached. Move toward the WorkPosition until this position or the workpiece is reached and 0x0200 detect part loss. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com Zimmer GmbH...
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Page 22: Operation Modes/Movement Profiles - Geh6000Il-31-B/Ged6000Il-31-B
This variant of the GEH6000IL series can exert only lower gripping forces due to the increased movement speeds of the In doing so, ensure that no gripping force acts on the gripper jaws, as otherwise the movement can be stopped. -
Page 23: Force Profiles
The movement profile determines the direction in which the workpiece is gripped: • For outside gripping, the movement profile group 60 is used. • For inside gripping, the movement profile group 70 is used. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 24: Pre-Positioning - Force Profiles
GripForce Desired gripping force TeachPosition Expected position of the workpiece PositionTolerance Permitted tolerance for the position window DriveVelocity Opening speed Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... - Page 25 Move toward the BasePosition for opening the product. 0x0100 Move at DriveVelocity to the ShiftPosition and then with GripForce until the 0x0200 workpiece or the WorkPosition is reached. Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
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Page 26: Interruption Of The Power Supply
// Query if WorkPosition was reached ControlWord := 256; // Set move command toward BasePosition iStep := 60; END_IF; END_CASE; Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 27: Starting The Gripping Movement
// ControlWord 0x0200 = FALSE in the StatusWord) ControlWord := 256; // Moves back toward BasePosition iStep := 50; END_IF; END_CASE; Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 28: Loading A Recipe
:= 20; // Jump to the next step ► Please contact Zimmer Customer Service if you have any questions. IF StatusWord.12 THEN // Queries the DataTransferOK = TRUE bit from StatusWord, // this is the response of the gripper to transmitted data 12.1 Emergency release of GEH6000IL... -
Page 29: Emergency Release Of Ged6000Il
► Check the transmitted ► Carry out another reference run after any emergency release. plausible. process data. ► Please contact Zimmer Customer Service if you have any questions. • Modified process data were ► Apply the process data via a not taken over. - Page 30 ► Reset the direction flag. product. executed. same direction. ► Send the move Zimmer Customer Service is available to provide you with assistance if you have any further questions. • In DM6x, MoveToWork if command again. ActualPosition > WorkPo- Index...
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Page 31: Maintenance
► Despite the maintenance-free performance mentioned, visually check the product regularly for corrosion, damage and dirt. We hereby declare that the incomplete machine described below ► Have maintenance work be performed by Zimmer Customer Service whenever possible. Product designation: 2-jaw parallel gripper/3-jaw concentric gripper, electric Ö... - Page 32 In terms of the EC Directive 2014/30/EC on electromagnetic compatibility Name and address of the manufacturer: Name and address of the manufacturer: Zimmer GmbH Zimmer GmbH Im Salmenkopf 5, 77866 Rheinau, Germany Im Salmenkopf 5, 77866 Rheinau, Germany ...
- Page 33 INSTALLATION AND OPERATING INSTRUCTIONS: GEH6000IL/GED6000IL Zimmer GmbH Am Glockenloch 2 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com • • • •...
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