Related Manuals for Zimmer HRC-07 Series
Summary of Contents for Zimmer HRC-07 Series
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS 3-jaw concentric gripper, electric HRC-07 series DDOC01015 THE KNOW-HOW FACTORY www.zimmer-group.com...
- Page 2 Selection of the workpiece recipes stored in the product WorkPosition Inner jaw position on the product Depending on the application, this can also be the standby position. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 3: Table Of Contents
11.7 Easy Startup ............................................32 11.8 Quickstart Basic Parameters ......................................33 11.9 Starting the gripping movement .......................................34 11.10 Repeated movements in the same direction ...................................34 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 4 19 RoHS declaration ..................................44 20 REACH declaration ..................................44 21 Declaration of Incorporation ..............................45 22 Declaration of Conformity ................................. 46 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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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
► Observe the specified maintenance intervals and specifications regarding the quality of the operating material. ► 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
Ö An incorrect configuration or selection can lead to malfunction The product is a safe gripper 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. -
Page 9: Type Plate
• The gripping forces generated when Zones of action Shared workspaces gripping soft objects are significantly reduced, since the amount of dynamic force is lowered. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 10: Functional Description
You can optionally adjust the gripping force to the workpiece by using the control system via IO-Link. Signal transmission LED display Gripper finger Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 11: Led Status Display
INSTALLATION AND OPERATING INSTRUCTIONS: HRC-07 6.1 LED status display Power/communication Error Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 12: Control
This data varies within the series, depending on the specific design. ► 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 13: Accessories/Scope Of Delivery
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 14: 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 15: Installing The Product
► Mount the product on the robot flange using the mounting screws. Mounting screw Robot flange Pin for positioning Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 16: Safe Shutoff For Products With Io-Link
(GND). Because of the self-locking mechanism, the product remains in the last approached position, even if no power is supplied. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 17: Installing The Energy Supply
+ 24 V DC actuator Actuator supply voltage IO-Link communication Functional ground + 24 V DC sensor Supply voltage of sensor Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 18: 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 19: Commissioning
UINT16 Reserve 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 20: 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 21: Parameters
Setting this bit tells the product to move toward the BasePosition. Bit 9: MoveToWork Setting this bit tells the product to move toward the WorkPosition. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 22: Devicemode
Inside and outside gripping, both movements at the same speed. Name DeviceMode Data format UINT8 Permission Write Transfer Cyclical Value range 11, 50, 60, 63, 70, 73, 100, 103 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 23 No defined gripping forces can be generated in this mode. As a result, friction-locked gripping is not permitted in this mode. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 24 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 25 11.4.2.3 Current feed profile for a gripping process with DeviceMode 63, 73, 103 movement subsequent current feed workpiece loss detection standstill Move com- Workpiece grip- 500 ms after a gripped workpiece mand Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 26: Workpieceno
This means that the TeachPosition range 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 ... 255 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 27: Gripforce
This data varies within the series, depending on the specific design. ► 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 28: Baseposition
The WorkPosition defines the maximum travel path of the product and has to be greater than the BasePosition. Name WorkPosition Data format UINT16 Permission Write Transfer Cyclical Value range BasePosition to max. jaw stroke of the product Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 29: 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 30 Active if the product has an active error. The error message can be determined using Diagnosis. Name StatusWord Data format UINT16 Permission Read Transfer Cyclical Value range 0 ... 65535 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 31: Diagnosis
► During commissioning, 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 • www.zimmer-group.com... -
Page 32: Minimum Travel Path
► Transmit the parameters to the product with a handshake. INFORMATION ► For more information please refer to the „Handshake Data Transfer Method“ section. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 33: Quickstart Basic Parameters
// Product moves to WorkPosition (0x0200 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 • www.zimmer-group.com... -
Page 34: Starting The Gripping Movement
// ControlWord 0x0200 = FALSE in ControlWord) ControlWord := 512; // Moves back toward WorkPosition iStep := 100; END_IF; 100: // Continue with the program END_CASE Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 35: Recipe Examples
// Query for completion of the data transfer, // DataTransferOK = FALSE iStep := 0; // Storage is completed END_IF; END_CASE Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 36: Loading A Recipe
:= 0; //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 37: Operation
13 Gripping force charts INFORMATION ► 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 38: Error Diagnosis
• through error reset • through reset direction flag ► Send the move command again. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 39 ► Please contact Zimmer Customer Service. 0x0411 No production parameters • Internal error ► Please contact Zimmer present on the product. Customer Service. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 40: Status In Led Display
⬤ ⬤ ⬤ Red LED flashes every second. • A reference run is being performed. Green LED flashes every second (alternating). Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 41 0x010A WorkPosition UINT16 Read 0 to max. Reflection of the process data (266) jaw stroke of the product Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 42 • Value = 0 ► Activation of message 0x0400 by ISDU: • Index = 562 (decimal) • Subindex = 0 • Value = 1 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 43: 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 44: 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 45: 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 46: 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...
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