Related Manuals for Zimmer MATCH LWR50L-25 Series
Summary of Contents for Zimmer MATCH LWR50L-25 Series
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS MATCH 2-jaw parallel gripper LWR50L-24 series MATCH 3-jaw concentric gripper LWR50L-25 series DDOC01073 THE KNOW-HOW FACTORY www.zimmer-group.com...
- Page 2 Selection of the workpiece recipes stored in the product WorkPosition Inner jaw position Depending on the application, this can be the end position or the work 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
11.5 Quickstart Basic Parameters ......................................30 11.6 Starting the gripping movement .......................................31 11.7 Repeated movements in the same direction ...................................31 11.8 Recipe examples ..........................................32 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 4 17 RoHS declaration ..................................38 18 REACH declaration ..................................38 19 Declaration of Incorporation ..............................39 20 Declaration of Conformity ................................. 40 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
The product is protected and features monitoring for the temperature and maximum duration of energization. ► Observe the recommended cooling temperature in accordance with standard EN ISO 13732-1. ► Wear personal protective equipment. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 7 • The measuring instrument is grounded (e.g. via a ground conductor). • The measuring head is momentarily discharged before measuring with a floating measuring instrument. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 8: 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 9: Product Description
The product is a safe quick-change system (MATCH gripper). The basic and proven safety principles from DIN EN 13849-1 can be complied with only if original parts from Zimmer GmbH are used. The original parts from Zimmer GmbH required for the safety principles are:... -
Page 10: Possible Applications
► You can find information about product variants and their compatibility 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 11: Functional Description
The product is equipped with a hot-plug function, which allows for the replacement of an MATCH gripper while electrically live. MATCH gripper Gripper jaw Rotation prevention/torque absorption Signal transmission LED display Locking Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 12: Led Status Display
• The product is not in any defined position. ⬤ ⬤ ⬤ ⬤ Orange LED flashes every second. • Currently not assigned. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 13: Sensors
MATCH gripper with quick-change system Sensor in storage position (MATCH gripper present) Sensor in inspection position (test channel, locking MATCH storage station extended) Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 14: Wiring Diagram Sensor System
► Coat the sensors with sealing lacquer. Sensor in storage position (MATCH gripper with quick-change system present) Sensor in inspection position (test channel, locking extended) Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 15: Functional Safety
• Operating pressure present No gripping force Spring force present ⬤ ⬤ present ⬤ ⬤ • No actuator voltage • With pressure safety valve Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 16: Verified Configuration Examples
► 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: 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 18: Installation
Fasten the product on the MATCH robot module. No assembly work is necessary for the product. The end effector is already connected to the loose part. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 19: Installing The Match Robot Module And Match Gripper
MATCH storage station (see "Sensors" section). Rotation prevention: The design rules out incorrect joining, as the MATCH gripper is equipped with two different bolts. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 20: Installing The Energy Supply
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 21: Commissioning
UINT8 TeachPosition UINT16 Reserve UINT8 PositionTolerance UINT8 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 22: 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 23: 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 24: Devicemode
Shut off the valves Universal mode 109 Ignore position error Name DeviceMode Data format UINT8 Permission Write Transfer Cyclical Value range 0 ... 256 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 25: Workpieceno
In order to use the data stored in workpiece data set 3, WorkpieceNo 3 must be transmitted in the process data. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 26: Positiontolerance
Name TeachPosition Data format UINT16 Permission Write Transfer Cyclical Value range 0 to max. jaw stroke of the product [1/100 mm] Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 27: Statusword
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... -
Page 28: Diagnosis
The value returned in Diagnosis corresponds to the error code (see "Error Diagnosis" section). Name Diagnosis 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... -
Page 29: Actualposition
INFORMATION ► For information and an example code for the handshake, refer to the "Quickstart Basic Parameters" and "Recipe Examples" sections. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 30: 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 31: 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 32: 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 33: Loading A Recipe
12 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 34: Error Diagnosis
Initial state after gripper restart • Modified process data were ► Apply the process data via a not taken over. handshake. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 35 Ö Check whether the required distance between the sensor and ferromagnetic materials is maintained. Ö Please contact Zimmer Customer Service. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 36 Read/write 0 ... 65535 Movement (277) Threshold threshold 0x0118 Hall Error UINT16 Read/write 0 to 5 Hall error (280) Threshold threshold Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 37: 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 38: 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 39: 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 40: 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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