Zimmer GEH6000IL Series Installation And Operating Instructions Manual
Gripper
Hide thumbs
Also See for GEH6000IL Series:
- Installation and operating instructions manual (44 pages) ,
- Installation and operating instructions manual (33 pages)
Subscribe to Our Youtube Channel
Related Manuals for Zimmer GEH6000IL Series
Summary of Contents for Zimmer GEH6000IL Series
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS 2-jaw parallel gripper, electric GEH6000IL series 3-jaw concentric gripper, electric GED6000IL series DDOC00212 THE KNOW-HOW FACTORY www.zimmer-group.com...
- Page 2 Depending on the application, this can be the end position or the work position. Workpiece loss Function which, in case of workpiece loss, causes the product to move to the end position. detection Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
-
Page 3: Table Of Contents
11.4.10 WorkPosition ........................................24 11.4.11 StatusWord ...........................................25 11.4.12 Diagnosis ..........................................26 11.4.13 ActualPosition ........................................26 11.5 Cold start ............................................27 11.6 Minimum travel path ..........................................27 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 4 18 RoHS declaration ..................................65 19 REACH declaration ..................................65 20 Declaration of Incorporation ..............................66 21 Declaration of Conformity ................................. 67 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
-
Page 5: Supporting Documents
This category contains useful tips for handling the product efficiently. Failure to observe these tips will not result in damage to the product. This information does not include any information relevant to health or workplace safety. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 6: Safety Notices
► Always adhere to the required maintenance intervals. ► When using the product under extreme conditions, adjust the maintenance interval according to the degree of contamination. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 7: Proper Use
Installation, commissioning and maintenance may only be performed by trained specialists. These persons must have read and understood the installation and operating instructions in full. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 8: Product Description
A type plate is attached to the housing of the product. The article number and confirmation number are shown on the type XX-XXXXXX plate. Article number Confirmation number Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 9: Functional Description
INSTRUCTIONS:GEH6000IL/GED6000IL 6 Functional description The gripper jaws of the GEH6000IL series are arranged parallel to each other on two opposing guide rails and can be moved relative to each other. The gripper jaws of the GED6000IL series are arranged parallel to each other on two guide rails offset at a 120° angle. ... -
Page 10: Led Status Display
(e.g. an emergency stop). ► Note that the self-locking mechanism is not available for the products GEH6040IL-31B and GEP6060IL-31B. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 11: Technical Data
8 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. ► For optional accessories and those included in the scope of delivery, refer to our website. -
Page 12: Installation
► Observe the tightening torque of the mounting screws. ► Verify the permitted load capacity of the required screw connections in accordance with VDI 2230. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 13: Installing Geh6000Il
► Mount the product on the mounting piece using the appropriate mounting screws. Mounting screw Centering Disc Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 14: Installing The Energy Supply
► Connect the product according to its assignment diagram. 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 Wiring
Ö The diagnostics of the product change to 0x0001 (Motor OFF) if the wiring is correct. ► Switch on the motor. ► Select the desired DeviceMode and transfer it. ► Start the movement. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 16: Static Charge
Before installing an accessory, make sure it is suitable for use with the selected variant. ► You can find information on our website. ► Please contact Zimmer Customer Service if you have any questions. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 17: Commissioning
UINT16 ShiftPosition UINT16 TeachPosition UINT16 WorkPosition UINT16 Input Control system Gripper Output Name Data type StatusWord UINT16 Diagnosis UINT16 ActualPosition UINT16 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 18: Iodd Import
Ö The data transmission is complete when the product sends back Statusbit 12 = DataTransferOK = FALSE. INFORMATION ► For examples, refer to the "Quickstart Basic Parameters" section. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 19: 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 • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 20: Devicemode
► Note that different operating modes are available depending on the product, see section "Operating modes for the GEH6000IL-03-B/GED6000IL-03-B" and "Operating modes for the GEH6000IL-31-B/GED6000IL-31-B". Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 21 Revoking the move command results in an immediate standstill of the product. This mode can be used for setting up the gripper positions. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
-
Page 22: Workpieceno
This means that the TeachPosition range starts at 13.50 mm and goes all the way up to 16.50 mm. PositionTolerance TeachPosition Name PositionTolerance Data format UINT8 Permission Write Transfer Cyclical Value range 0 ... 255 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 23: Gripforce
BasePosition Data format UINT16 Permission Write Transfer Cyclical Value range 0.75 to max. jaw stroke of the product + 0.75 mm Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 24: Shiftposition
WorkPosition Data format UINT16 Permission Write Transfer Cyclical Value range 0.75 to max. jaw stroke of the product + 0.75 mm Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 25: Statusword
Bit 9: TeachPosition Active if the product is set to TeachPosition. Bit 10: WorkPosition Active if the product is set to WorkPosition. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 26: Diagnosis
• The position measurement accuracy is 0.1 mm. ► During commissioning, be aware of fluctuations around the exact value if you use ActualPosition to detect the workpiece. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 27: Cold Start
The product requires a certain minimum travel path to generate the full gripping force when moving to the desired position. Design size Minimum travel path per gripper jaw [mm] GEH6040IL-03-B GEH6040IL-31-B GEH6060IL-03-B GEH6060IL-31-B GEH6140IL-03-B GEH6180IL-03-B GED6040IL-03-A GED6040IL-31-A GED6140IL-03-A Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 28: Referencing By Homing
Depending on installation size, the gripper jaws move slightly beyond the edge of the gripper housing when moving to home position (Homing). Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 29: Devicemode 10
Ö The motor is switched on. INFORMATION For the products GEH6040IL-31B and GEP6060IL-31B, the position can also take on a value higher than "0" after homing. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 30: Devicemode 16
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 • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 31: 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 • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 32: Movement Profiles Geh6000Il-03-B/Ged6000Il-03-B
Pre-positioning – Force profile – with stronger holding pressure for detecting part loss. 95 Pre-positioning – Force profile – with holding pressure for detecting part loss. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 33: Positioning Profiles
► Ensure that no gripping force is acting on the gripper jaws. Ö The movement may stop as a result. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 34: Force Profiles
The movement profile determines the direction in which the workpiece is gripped: • Outside gripping: Movement profile group 60 • Inside gripping: Movement profile group 70 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 35 Carry out test for part loss with stronger holding pressure force. Move toward the WorkPosition until this position or the workpiece is reached. 0x0200 Move at a reduced speed. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 36 The ControlWord 0x0200 is used to open the product. The product is moved automatically to the WorkPosition in the PositionProfile. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 37 The gripping force generated depends on the elasticity of the workpiece. Ö Recommended mode for flexible/elastic workpieces Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 38 The movement profile determines the direction in which the workpiece is gripped: • Outside gripping: Movement profile group 80 • Inside gripping: Movement profile group 90 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 39 If the gripping process was successful, the bit in the TeachPosition becomes TRUE. In case a part is lost, the product keeps moving to the WorkPosition. The part loss can be detected by sensing the WorkPosition. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 40 After the gripping process, the bit in the TeachPosition is TRUE. In case a part is lost, the product moves to the BasePosition. The part loss can be detected by sensing the BasePosition. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
-
Page 41: Movement Profiles Geh6000Il-31-B/Ged6000Il-31-B
The motor is energized continuously during the gripping process. If the workpiece gets lost, the gripping movement is continued to the target position. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 42: Positioning Profiles
► Ensure that no gripping force is acting on the gripper jaws. Ö The movement may stop as a result. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 43: Force Profiles
The movement profile determines the direction in which the workpiece is gripped: • Outside gripping: Movement profile group 60 • Inside gripping: Movement profile group 70 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 44 The product moves toward the workpiece. When the product grips the workpiece, the configured gripping force is built up and maintained by the motor current. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 45 The product moves toward the workpiece. When the product grips the workpiece, the configured gripping force is built up and maintained by the motor current. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 46 The movement profile determines the direction in which the workpiece is gripped: • Outside gripping: Movement profile group 80 • Inside gripping: Movement profile group 90 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 47 The gripping force is maintained by the motor current. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 48 The set gripping force is maintained by the motor current. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
-
Page 49: Interruption Of The Power Supply
• GripForce • DriveVelocity • BasePosition • ShiftPosition • TeachPosition • WorkPosition ► Transmit the parameters to the product with a handshake. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 50: Starting The Data Transfer
StatusWord with the DataTransferOK bit. Ö The product is ready to operate. INFORMATION ► For information about data transfers, refer to the "StatusWord" section. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 51: Quickstart Basic Parameters
IF NOT StatusWord.10 THEN // Query for reaching the WorkPosition ControlWord := 256; // Set move command toward BasePosition iStep := 60; END_IF; END_CASE Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 52: Starting The Gripping Movement
// (Bit ControlWord 0x0100 AND // ControlWord 0x0200 = FALSE in ControlWord) ControlWord := 256; // Moves back toward BasePosition iStep := 50; END_IF; END_CASE Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 53: Recipe Examples
// Query for completion of the data transfer, // DataTransferOK = FALSE // Do other things... // Storage is completed END_IF; END_CASE Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 54: Loading A Recipe
// Do other things... //Handshake is completed, // Parameters from the third recipe have been taken over into the current process parameters. END_IF; END_CASE Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 55: Operation
► Carry out another reference run after any emergency release. ► Please contact Zimmer Customer Service if you have any questions. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 56: Emergency Release Of Ged6000Il
► You can find the information in the technical data sheet on our website. ► Please contact Zimmer Customer Service if you have any questions. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 57: Error Diagnosis
► Reference the product. referenced. is not referenced. ► Wait until the reference run • A reference run is being is complete. performed. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 58 • Internal error ► Please contact Zimmer Customer Service. 0x040F Internal error • Internal error ► Please contact Zimmer Customer Service. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 59 Reflection of the process (257) stroke of the data product 0x0102 WorkpieceNo UINT8 Read 0 ... 32 Reflection of the process (258) data Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 60 ► When swapping out the product, write the values again. The function is available starting from Application Firmware Version SWA000059_000, see Index 0x0017. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 61 Ö This setting is stored in the product. ► When swapping out the product, write the values again. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 62 ► When swapping out the product, write the values again. The function is available starting from Application Firmware Version SWA000059_000, see Index 0x0017. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 63 ► When swapping out the product, write the values again. The function is available starting from Application Firmware Version SWA000059_000, see Index 0x0017. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
-
Page 64: Maintenance
► Dispose of the components properly according to the material groups. ► Comply with the locally applicable environmental and disposal regulations. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 65: Rohs Declaration
Authorized representative for the (Place and date of issuance) Martin Zimmer compilation of relevant technical (Legally binding signature) documents Managing Partner Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 66: Declaration Of Incorporation
Authorized representative for the (Place and date of issuance) Martin Zimmer compilation of relevant technical (Legally binding signature) documents Managing Partner Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 67: Declaration Of Conformity
Authorized representative for the (Place and date of issuance) Martin Zimmer compilation of relevant technical (Legally binding signature) documents Managing Partner Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
Need help?
Do you have a question about the GEH6000IL Series and is the answer not in the manual?
Questions and answers