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Summary of Contents for Zimmer GEP2006IL-03-B
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS GEP2000IL-03 2-jaw parallel gripper electric DDOC01219 THE KNOW-HOW FACTORY www.zimmer-group.de...
- 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 Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ...
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Page 3: Table Of Contents
Minimum startup path .......................................28 "Easy Startup" ..........................................28 8.6.1 "Easy Startup" ......................................29 Starting gripping movement .....................................30 Repeated movement in the same direction ................................30 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... - Page 4 16 Decommissioning and disposal ............................39 17 RoHS declaration ................................40 18 REACH declaration ................................40 19 Declaration of Incorporation .............................. 41 20 Declaration of Conformity ..............................42 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com...
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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
Power supply Drive Emergency release Helical worm gear Gripper jaws Position sensing Removable centering sleeve Synchronization Mounting and positioning Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com •... -
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
UINT 16 Input Control Product system Output Name Data type StatusWord UINT16 Diagnosis UINT16 ActualPosition UINT16 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • • • •... -
Page 15: Iodd Import
Following this, the "ControlWord" = 0 can be sent, which ends the data transfer. The operator automatically concludes the data transfer with the "ControlWord" = 0x00 and the corresponding response from the gripper via the "Statusbit" 12 = FALSE . Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 16: Parameters
Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 "ResetDirec- Byte 2 "Teach" "WritePDU" "DataTransfer" tionFlag" Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • •... - Page 17 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 "Error diagnosis" section. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ...
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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 The gripper can be moved from the obstacle back to the starting position if the command is switched in the "ControlWord." No defined gripping forces can be generated in this mode. Friction-locked gripping is not permitted in this mode. Zimmer GmbH Im Salmenkopf 5...
- Page 20 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 Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ...
- Page 21 Werkstück 500 ms gegriffen nach gegriffenem Werkstück Section Description standstill movement subsequent current feed workpiece loss detection Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • •...
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Page 22: 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 Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • •... -
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
"WorkPosition" Data format UINT16 Permission Write Transfer Cyclical Value range BasePosition to max. jaw stroke of the gripper Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • •... -
Page 25: Statusword" Parameter
This bit is a direction flag and is active when the last movement order was made in the "WorkPosition" direction. Bit 15: "Error" Error in the gripper. If this bit is active, the error message can be determined using the "Diagnosis" parameter. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 26: Diagnosis" Parameter
The value returned in the "Diagnosis" parameter corresponds to the error code (see "Troubleshooting" section). Name "Diagnosis" Data format UINT16 Permission Read Transfer Cyclical Value range 0 to 65535 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com • • •... -
Page 27: Actualposition" Parameter
Ö The accuracy of the position measurement depends on the size. ► Be aware of fluctuations around the exact value if you use the "ActualPosition" parameter to detect the workpiece. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 28: Minimum Travel Path
• "WorkPosition" Ö A "handshake" is required to transmit the process parameters to the gripper. INFORMATION For information about the "Handshake," refer to the "Handshake" data transfer method section. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 29: Easy Startup
(*Handshake is completed, gripper now moves to WorkPosition (0x200 or 512(decimal) = MoveToWork)*) iStep := 100; END_IF 100: ; (*continue with the program*) END_CASE Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 30: 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 Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 31: Save Recipe
(*Queries the completion of the data transmission, "DataTransferOK"= FALSE, this process may last several seconds*) iStep := 0; (*Is storage complete?*) END_IF; END_CASE Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
Page 32: Recipe Examples "Load Recipe
:= 0; (*Handshake is completed, the parameters from the third recipe are now applied to the current process parameters*) END_IF; END_CASE Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ... -
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
► Permitted range: 0 < "Position- Tolerance" ≤ 255 The device has an incorrect • The gripper does not have any ► Contact Zimmer Customer 0x305 reference position. reference position. Service. Zimmer GmbH Im Salmenkopf 5... - Page 35 0x400 Gripper is jammed. • Travel path of the gripper is ► Reset via "ControlWord" = impeded. 0x8000 ► Contact Zimmer Customer 0x406 System error • Internal system error Service. Gripper-internal parameters are • Incompatible or damaged ►...
- Page 36 For this reason, the GEP2000IL series can be used completely without the need for acyclic data. This makes it as easy as possible for the customer to control the product. Zimmer Customer Service is available to provide you with assistance if you have any questions. Index...
- Page 37 Activating the message 0x400 is done by the following ISDU: • Index = 562 (decimal) • Subindex = 0 • Value = 1 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com...
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Page 38: Accessories/Scope Of Delivery
2-jaw parallel gripper, electric, GEP2000IL-03 series 13 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 39: 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 40: Rohs Declaration
2-jaw parallel gripper, electric, GEP2000IL-03 series 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 41: 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 www.zimmer-group.com... -
Page 42: Declaration Of Conformity
2-jaw parallel gripper, electric, GEP2000IL-03 series 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 www.zimmer-group.com... - Page 43 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 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, GEP2000IL-03 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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