Zimmer GEH8000 Series Installation And Operating Instructions Manual
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Summary of Contents for Zimmer GEH8000 Series
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS GEH8000 series 2-jaw parallel gripper with long stroke DDOC00262 THE KNOW-HOW FACTORY www.zimmer-group.com...
- Page 2 Selection of the workpiece recipes stored in the product WorkPosition Inner jaw position at 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
11.5 Functions of the function block ....................................44 11.5.1 b_Power ........................................44 11.5.2 b_Automatic ........................................44 11.5.3 b_TorqueMode ......................................44 11.5.4 b_MoveToWorkPos .....................................44 11.5.5 b_MoveToWorkPos_2 ....................................44 11.5.6 b_MoveToBasePos .....................................44 11.5.7 b_SetReferencePos ....................................44 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com •... - Page 4 14 Decommissioning and disposal ............................59 15 RoHS declaration ................................60 16 REACH declaration ................................60 17 Declaration of Incorporation .............................. 61 18 Declaration of Conformity ..............................62 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 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
• Use of the product under extreme conditions, such as aggressive fluids or abrasive dusts • Additional drilled holes or threads Ö Zimmer GmbH shall accept no liability for any damage caused by improper use. The operator bears sole responsibility. -
Page 7: Proper Use
► 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 operator bears sole responsibility. -
Page 8: Functional Description
It replaces a separate absolute value at the motor. Using the multiturn option requires buffer storage via an external battery. The following accessories must be used for this: • Battery box SUP-E02-MSM-BATTERYBOX-xxx Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 9: 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. The accessories from Zimmer GmbH are specifically tailored to the individual products. ► For information on optional accessories and those included in the scope of delivery, refer to our website. -
Page 10: Installation
► 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 Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 11: Installing The Product
► It is mandatory to comply with the illustrated clamping variants. Ö Zimmer GmbH shall accept no liability for any damage caused by improper use. ► For further information about the connection assignment for the BOSCH Rexroth HCS01 series servo amplifier, please refer to the manufacturer's planning instructions. -
Page 12: Installing The Energy Supply
PRM1-03V6-2600C-D2-LITH-ZNR-50 Voltage 3.6V Output 2600 mAh Service life Up to 10 years, depending on the load and ambient temperature Spare battery R911369925 (SUP-E02-MSM-BATTERY) Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com • •... -
Page 13: Installing Accessories
NOTICE ► Before installing the accessories, check whether they are suitable for use with the selected variant. ► Please contact Zimmer Customer Service if you have any questions. 10.5 Checking operational readiness After the product has been properly installed, the following properties must be checked to verify that it is ready to be operated: ►... -
Page 14: Commissioning
► Before installing the accessories, check whether they are suitable for use with the selected variant. ► For information about the complete range of accessories, refer to our website. ► Please contact Zimmer Customer Service if you have any questions. 11.1.1 Setting the IP address ►... -
Page 15: Setting The Ip Address
Ö The work field or sequence of operations may be different in different software versions. ► Please consult the software manufacturer to learn how to use the software version available to you. Ö Zimmer GmbH shall not be liable in case of damage from improper or erroneous function. ► Start the IndraWorks Ds software. - Page 16 • The navigation pane for displaying and editing various functions of the system is on the left. • When starting, the "Axis Status" window appears to the right of the navigation pane. • Possible error messages are displayed in the menu bar. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
- Page 17 The controller's firmware must correspond to the firmware of the parameter sets. ► Select "Diagnostics" in the menu bar. ► Select "Electr. Type plate". Ö The firmware status appears. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
- Page 18 ► Select "Load" from the menu. Ö The parameter loading window opens. ► Select the suitable parameter set. ► Click the "Load" button. Ö The loading process into the controller begins. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com ...
- Page 19 Ö The "Master Communication Basic Settings" appear on the right side of the window. ► Click the "Reboot" button. Ö The restart of the controller starts. No "BUS connection (Master Communication) Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
- Page 20 ► Eliminate all errors so that the unit can be moved. Ö Current error messages are displayed in the "Axis Status" window. Ö Error messages can be acknowledged using the "Clear Error" button. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
- Page 21 INSTALLATION AND OPERATING INSTRUCTIONS: GEH8000 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com • • • •...
- Page 22 ► Follow the warning notices listed in the "Warning Notice" window. ► You can reach all warning notices by scrolling. Ö Zimmer GmbH shall accept no liability for any damage caused by failure to observe these notices. Zimmer GmbH Im Salmenkopf 5...
- Page 23 Risk of death and material damage in case of non-compliance ► Always comply with the warning notices displayed by the software. Ö Zimmer GmbH shall accept no liability for any damage caused by failure to observe these notices. NOTICE ► Click the "OK" button if you have carefully read and understood the software's safety notices.
- Page 24 • DES140_M5_MPx18_EasyStart.par At initial commissioning, an actual speed value of 2 to 5 [rpm] is recommended. This ensures adequate speed for being able to detect a movement and indicate any danger. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
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Page 25: Referencing The Motor Encoder Of The Geh8660
Ö See figure below with colored gripper jaws. ► Withdraw the enable signal when the gripper jaws are in middle position. ► Move each gripper jaw outward by ±30 mm. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... - Page 26 ► Click the "Set absolute position" button. Ö A window opens. ► Click the "Set absolute position" button. ► The product references itself to the entered position. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com ...
- Page 27 INSTALLATION AND OPERATING INSTRUCTIONS: GEH8000 ► Move the product in Easy Startup mode after the reference position has been adopted. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com • • • •...
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Page 28: Ethercat Function Block
► For more information, refer to the "Axis Output Parameters ➞ PLC" section or the product-specific instructions from Bosch Rexroth. Ö Zimmer GmbH recommends setting up the listed configuration in its entirety and configuring it in the EtherCat PLC. In IndraDrive Cs, all parameters can be loaded using the attached parameter file and re-enabled via a restart. -
Page 29: Installing The Latest Esi Device Description
Port X001 - EtherCat X25 P1 IP: 192.168.0.125 IP: 192.168.0.101 IP: 192.168.9.3 IP: 192.168.9.5 SNM 255.255.255.0 SNM 255.255.255.0 SNM 255.255.0.0 SNM 255.255.255.0 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com • • •... - Page 30 ► Install the Tc2_Utilities.Lib library if this is not yet installed in the project or another project is used. ► Right-click References > Add library. Ö The Tc2_Utilities.Lib library is needed for the function "WORD_TO_HEXSTR()". Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
- Page 31 INSTALLATION AND OPERATING INSTRUCTIONS: GEH8000 The library is in the folder System > SysLibs. ► Switch to configuration mode to find the currently connected hardware. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com ...
- Page 32 INFORMATION In the example, the setpoint positioning takes place in the IndraDrive Cs controller, which means that neither an NC nor a CNC axis is needed in TwinCat motion. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
- Page 33 ► Click the "Cancel" button in the window. ► Enable the configuration mode with Free Run. ► Configure the settings for "Ethernet over EtherCat" in the project. ► Enable EoE support in the master. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
- Page 34 Ö The following message indicates that no variables have yet been connected between the controller <> PLC. ► Click the "OK" button. Ö After the activation, the CX control system is set to Run Mode. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
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Page 35: Establishing The Indradrive Ds Ethernet Connection To The Indradrive Cs Controller
► Use the command "Ping 192.168.9.5" to check whether an Ethernet connection to the controller is possible. ► Search for the IP address range of the controller using "IP Address Search". ► Connect the IP address range of the controller. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com ... -
Page 36: Configuring The Interface From Twincat3
The default parameters that TwinCat3 reads in from the XML file describe the main operating mode S-0-0032 during startup. ► In the example, delete main operating mode S-0-0032 from the IndraDrive parameter file. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 37: Output Parameters Axis Plc
• S-0-0390 Diagnostic number Ö The parameters S-0-0135 Drive status word and S-0-0051 Position feedback value 1 are already present in the predefinition. ► Add the other parameters manually. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com ... -
Page 38: Input Parameters Plc Axis
Ö The parameter 2 is already present in the predefinition: S-0-0047 Position Command Value. ► Delete the parameter S-0-0047 Position Command Value. ► Select S-0-0082 Positioning setpoint as Parameter 2. ► Add the other parameters manually. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... - Page 39 Ö Under Master Communication-Axis > Settings > Process Data-In (AT), the output parameters are listed. Ö The input parameters are listed under Master Communication-Axis/Settings/Process Data-On (AT). ► Check the input parameters via the signal status word and signal control word hyperlinks. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
- Page 40 Ö The default bits signal status word and S-0-0135 Drive status word signal control word are already stored in the included parameter file. S-0-0134 Master control word Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com ...
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Page 41: Linking The Interface With Plc
Ö An input and an output structure are available for the GEH8660S in the GVL_Axis_Structs (Global Variable List). ► Link to a PLC variable under Process Data > Indradrive Axis Structure by right-clicking > Change Link. Zimmer GmbH Im Salmenkopf 5... - Page 42 Ö The arrow at the bottom left in the icon tells you that variable linking was successful. ► Activate the PLC. ► Carry out a restart. Ö The parameters are accepted. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com ...
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Page 43: Integrating Blocks Of The Example
INSTALLATION AND OPERATING INSTRUCTIONS: GEH8000 11.4 Integrating blocks of the example ► Open the Zimmer structure under PLC: Zimmer_Group_Indradrive_EtherCat > Zimmer_Group_Indradrive_EtherCat Project > POUs of the organization block MAIN (PRG) Ö The variable declaration includes the instantiation of the block FB_GEH8660S_z. -
Page 44: Functions Of The Function Block
A positive edge at this input causes the product to move to the reference position st_Parameter.f_HomePos. The prerequisite for this is that b_Power and b_Enabled (controller enable AF) are false and the block is not currently processing any other commands. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 45: Halt
The product gets jammed if it is moved together with the maximum torque (300%). ► Do not move the product together with the maximum torque (300%). Ö The product can only be opened mechanically and by Zimmer Customer Service. Zimmer GmbH... -
Page 46: St_Parameter
Input value Corresponding value i_Velocity 0 - 500 18.75 rpm i_Acceleration 0 - 2500 1250 mm/s i_Torque 0 - 300 200% Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com • • • •... -
Page 47: Function Block Tia Gantry
A network connection therefore has two separate IP addresses that can be addressed in different ways. ► Configure the IP address for configuring the converter on the Engineering tab via IP (X24/X25). Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... - Page 48 • S-0-0040: Speed actual value (2 words) • S-0-0084: Actual value of torque/force (1 word) • S-0-00144: Signal for status word (1 word) • S-0-00390: Diagnostic number (2 words) Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
- Page 49 • S-0-0260: Positioning acceleration (2 words) • S-0-0092: Limit value of torque/force, bipolar (2 words) • S-0-0145: Signal for control word (1 word) • S-0-0052: Reference position 1 (2 words) Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
- Page 50 ► Switch signal control word Axis[1] > Master Communication > Signal Control Word with individual bits for successful communication between PLC and Indramat controller. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
- Page 51 Ö The example project uses only one operation mode because this is sufficient for all functions (jog, positioning and referencing). INFORMATION You can switch operation modes using this interface. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
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Page 52: Configuring The Hardware
► To do this, use the provided GSDML files or download the current Bosch Rexroth version. INFORMATION The example project requires the axis from the menu Bosch Rexroth AG > IndraDrive > IndraDrive 02V01 GSDML V2.1. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... - Page 53 For the example project, in the hardware catalog on the Module tab, you have to drag the modules Input 9 Words_1 and Output 11 Word_1 into the configuration. Ö After successful transmission and transfer of the configuration, there is a connection between the converter and the PLC. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com...
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Page 54: Integrating The Library
► Depending on the language you need, copy the file FB_IndraDrive_ Errors_z from the Errorhandling English or Errorhandling German folder. ► Drag and drop these templates into the PLC project. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... -
Page 55: Main
Ö The defaults for speed, acceleration and torque are created as integer variables. Ö The outputs are created as floating point numbers (real). Ö s_AxisInfo outputs the currently pending status, messages or errors of the axis. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com ... -
Page 56: Plc Variables
Ö The finished block corresponds to the illustration. ► Transfer the settings to the PLC. ► Complete the steps necessary for Siemens: • Save/transmit • Load into the device Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com ... -
Page 57: Functions Of The Function Block
The product moves in the positive direction (open) as long as this input is set. The prerequisite for this is that b_Power and b_Enabled (controller enable AF) are true, b_Automatic is false and the block is not currently processing any other commands. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com... - Page 58 The product gets jammed if it is moved together with the maximum torque (300%). ► Do not move the product together with the maximum torque (300%). Ö The product can only be opened mechanically and by Zimmer Customer Service. 11.7.8.14 st_Parameter The positions and basic settings are compiled in the structure st_IndraDriveUnit_Parameter_z.
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Page 59: Input Values For Geh8660S
► Have maintenance work performed and seals replaced by Zimmer Customer Service whenever possible. Ö Dismantling and reassembling the product without authorization may result in complications, as special installation equipment is required in some cases. Zimmer GmbH accepts no liability for any resulting malfunctions or damage. 14 Decommissioning and disposal INFORMATION When the product reaches the end of its operational phase, it can be completely disassembled and disposed of. -
Page 60: Rohs Declaration
We hereby declare that the incomplete machine described below Product designation: 2-jaw parallel gripper, electric Type designation: GEH8000 series conforms to the requirements of the directive in its design and the version we put on the market. Kurt Ross Rheinau, Germany, 2020-07-24... -
Page 61: Declaration Of Incorporation
Product designation: 2-jaw parallel gripper, electric Type designation: GEH8000 series conform to the requirements of the Machinery Directive, 2006/42/EC, Article 2g, Annex VIIB – Annex IIB, in their design and the version we put on the market. Basic health and safety requirements: No. -
Page 62: Declaration Of Conformity
We hereby declare that the products described below Product designation: 2-jaw parallel gripper, electric Type designation: GEH8000 series conform to the requirements of the Electromagnetic Compatibility Directive 2014/30/EU in their design and the version we put on the market. The following harmonized standards have been used: DIN EN ISO 12100:2011-03 Safety of machinery –... - Page 63 INSTALLATION AND OPERATING INSTRUCTIONS: GEH8000 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com • • • •...
- Page 64 INSTALLATION AND OPERATING INSTRUCTIONS: GEH8000 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 www.zimmer-group.com • • • •...
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