Related Manuals for Zimmer HRC-03-117137
Summary of Contents for Zimmer HRC-03-117137
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS 2-jaw parallel gripper, electric HRC-03 DDOC00268 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 Cold start ............................................28 11.5 Minimum travel path ..........................................28 12 Commissioning the IO-Link ............................... 29 12.1 Process data .............................................29 12.2 IODD Import ............................................30 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 4 19 RoHS declaration ..................................53 20 REACH declaration ..................................53 21 Declaration of Incorporation ..............................54 22 Declaration of Conformity ................................. 55 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
The suitability of the product for collaborative use can only be verified while using gripper fingers installed in factory condition. ► If using other gripper fingers, check the permitted maximum force and pressure values for collaborative operation. 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: Use In Applications
• The product is engineered to be inherently safe and is designed with rounded edges and shapes that prevent crushing and shearing points from being created. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 10: Functional Description
Depending on the installation size, the product can be integrated and controlled via IO-Link or digital inputs and outputs in existing control systems. Setting the gripping force LED display Power supply Emergency release Gripper jaw Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 11: Led Status Display
(e.g. an emergency stop). ► 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 12: 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 13: 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 14: Installing The Product
► Mount the product on the robot flange using the mounting screws. ► Install the housing using the countersunk screws. Straight pins Mounting screw Case Countersunk screw Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 15: Installing Hrc-03-117137
► Position the “ClickSmart” plate on the product. ► Loosely attach the mounting screws. ► Tighten the mounting screws crosswise. Mounting screw “ClickSmart” plate Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 16: Installing Hrc-03-125035
► Install the housing using the countersunk screws. Adapter plate straight pin Adapter plate mounting screw Adapter plate Straight pins Mounting screw Case Countersunk screw Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 17: 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 voltage is supplied. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 18: Installing The Energy Supply
► Be absolutely certain to ensure correct pin assignment. 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 19: Hrc-03-100688 Pin Assignment
• A voltage supply between pin 5 and pin 8 is necessary for operation. Ö A jaw movement is triggered by a voltage level between pin 7 or pin 6. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 20: Hrc-03-117137 Pin Assignment
• A voltage supply between pin 5 and pin 8 is necessary for operation. Ö A jaw movement is triggered by a voltage level between pin 7 or pin 6. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 21: Hrc-03-125035 Pin Assignment
• A voltage supply between pin 5 and pin 8 is necessary for operation. Ö A jaw movement is triggered by a voltage level between pin 7 or pin 6. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 22: Hrc-03-126895 Pin Assignment
Pin 3 Open the product Close the product INFORMATION The product requires hardware release 3.0 or higher in order to function. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 23: Hrc-03-126902 Pin Assignment
Ö A jaw movement is triggered by a voltage level between pin 7 or pin 6. Movement Pin 6 Pin 7 Product in rest mode Open the product Close the product Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 24: Hrc-03-148656 Pin Assignment
Ö A jaw movement is triggered by a 24 V signal to Pin 1 or Pin 2. Movement Pin 1 Pin 2 Product in rest mode Open the product Close the product Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 25: 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 26: Digital Commissioning
The current jaw position is scaled from 0 V to 10 V and is issued via PIN 5 (analog output). > 10 ms 24 V PIN 2 > 10 ms 24 V PIN 4 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 27: Current Supply Profile Of Gripping Process
► In the case of a mechanically limited end position, teach in the end position again. 24 V PIN 2 Cold start > 5 ms 24 V PIN 4 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 28: Cold Start
The product requires a certain minimum travel path to move to the desired position. Design size Minimum travel path per gripper jaw [mm] HRC-03 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 29: Commissioning The Io-Link
UINT8 TeachPosition UINT16 GripForce 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 30: 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 31: Parameters
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 2 Adjust Teach ResetDirec- WritePDU DataTransfer tionFlag Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 32 This bit can be used to acknowledge all errors that can be reset. Whether an error can be reset is shown in the "Error Diagnosis" section. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
-
Page 33: Devicemode
Inside and outside gripping, both movements at the same speed. Name DeviceMode Data format UINT8 Permission Write Transfer Cyclical Value range 60, 63, 70, 73, 100, 103 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 34 500 ms after a gripped workpiece mand NOTICE In case of workpiece loss, the product moves to the end position and outputs a message. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
-
Page 35: 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 36: Gripforce
0 to max. 2000 Name TeachPosition Data format UINT16 Permission Write Transfer Cyclical Value range 0 to max. jaw stroke of the product Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 37: 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 38: 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 39: Cold Start
► 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 40: 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 41: 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 42: 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 43: 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 44: Operation
INFORMATION ► Details about activation can be found in the information from the robot manufacturer. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 45: Setting The Gripping Force
The gripping force can be adjusted in four stages using a rotary switch. INFORMATION The gripping force for installation size HRC-03-126902 can be set via the control system. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 46: Emergency Release
14 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 47: Error Diagnosis
Customer Service. 0x0306 DeviceMode is not plausible. • Transmitted DeviceMode is ► Check the transmitted not plausible. process data. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 48 ► 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...
-
Page 49: Status In Led Display For Io-Link Error
⬤ ⬤ ⬤ 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 50 0x0109 ShiftPosition UINT16 Read 0 to max. Reflection of the process data (265) jaw stroke of the product Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 51 • 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...
-
Page 52: 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 53: 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 54: 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 55: 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...