Zimmer HRC01 Series Installation And Operating Instructions Manual
Gripper, electric
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Summary of Contents for Zimmer HRC01 Series
- Page 1 INSTALLATION AND OPERATING INSTRUC- TIONS HRC01 series Gripper, electric DDOC00271 THE KNOW-HOW FACTORY www.zimmer-group.com...
- Page 2 Traversing routine Defined procedure for movement of the gripper jaws Travel path Path on which the gripper jaws travel Light-emitting diode Human-robot collaboration Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com...
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Page 3: Table Of Contents
8.3.9 "TeachPosition" parameter .....................................27 8.3.10 "WorkPosition" parameter ....................................27 8.3.11 "StatusWord" parameter ....................................28 8.3.12 "Diagnosis" parameter ....................................29 8.3.13 "ActualPosition" parameter ....................................29 "Cold start" ........................................30 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... - Page 4 13. Maintenance ..................................42 14. Accessories/scope of delivery ............................42 15. Transportation/storage/preservation ..........................42 16. Decommissioning and disposal ............................42 17. Declaration of Incorporation .............................43 18. Declaration of Conformity ..............................44 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ...
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Page 5: Supporting Documents
3. The gripper may be used only in accordance with its proper use and technical data. Zimmer GmbH shall accept no liability for any damage caused by improper use. -
Page 6: Proper Use
Forces and torques INFORMATION: For information on forces and torques, please visit our website. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany ... -
Page 7: Type Plate
INFORMATION: Please state the serial number in the event of damage or a complaint. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Criteria for use in collaborative applications The criteria listed below are the basis for the suitability of the gripper for use in collaborative applications: Ö... -
Page 8: Function
INFORMATION: For technical data, please visit our website. This data varies within the series, depending on the specific design. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Zimmer GmbH Im Salmenkopf 5 ... -
Page 9: Led Display
The gripper has a fault Flashing No IO-Link connection available On continuously Gripper is in an undefined position Flashing Currently not assigned Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 10: Fused Configuration
Verified configuration INFORMATION: For information about the verified configuration, please visit our website. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Protection classes NOTICE: The gripper achieves protection class IP40 in all mounted positions of installation. - Page 11 , secure and mount the gripper on the connecting plate ► Mount the upper part of the housing and the lower part of the housing using the four mounting screws Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany ...
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Page 12: Installing Hrc-01 Gripper With Internal Cable Gland
Ö During installation, the cables for IO-Link and the STO safety function must be routed in a centered position through the connecting plates and into the robot. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany ... -
Page 13: Installing The Gripper Fingers
► Position the gripper fingers on the gripper jaws using the centering sleeves ► Fasten the gripper fingers to the gripper jaws using the three mounting screws Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 14: Function Of The Safety Gripper Jaws
Their configuration must not be changed. Movement of the safety gripper jaws must not be impaired by other machine parts! ► Risk of injury ► Malfunction Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 15: Installing The "Io-Link" Power Supply Line
CAUTION: During a cold start, the program must ensure that the gripper cannot perform any hazardous move- ments. ► Danger of injury from being startled Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 16: Static Charge
Before installing an accessory, make sure it is suitable for use with the selected variant. For information on all available accessories, please visit our website. Zimmer Customer Service is available to provide you with assistance if you have any further questions. Zimmer GmbH Im Salmenkopf 5 ... -
Page 17: Commissioning
Control system Gripper Edition Name Data type StatusWord UINT 16 Diagnosis UINT 16 ActualPosition UINT 16 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ● ● ● ●... -
Page 18: Iodd Import
Following this, the "ControlWord" = 0 can be sent, which ends the data transfer. The operator automatically concludes the data transfer with the "ControlWord" = 0x00 and the corre- sponding response from the gripper via the "Statusbit" 12 = FALSE . Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany ... -
Page 19: Parameters
► This makes a repeated movement to a position possible. ► This is logical during a switchover of workpiece recipes. INFORMATION: This only works if there is no "0" that is transmitted in the workpiece number! Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany ... -
Page 20: Movement Profiles
Special movement profile for a faster movement of the gripper. The gripper 0x200 must never be jammed, i.e. neither be at the end stop nor have gripped a workpiece. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ... - Page 21 "ControlWord" Move toward the "WorkPosition" until this position or the workpiece is 0x200 reached Move toward the "BasePosition" for opening the gripper 0x100 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com...
- Page 22 The setting "GripForce" = 10 is optionally suitable for the first gripping attempt. By varying the gripping force, you find the best gripping force for your application! Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany ...
- Page 23 Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip- 0x200 Force" until the workpiece or the "WorkPosition" is reached Move toward the "BasePosition" for opening the gripper 0x100 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ...
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Page 24: Workpieceno" Parameter
Write Transfer Cyclical Value range 0 to 32 The corresponding workpiece recipe is loaded in the gripper with a value > 0. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 25: Positiontolerance" Parameter
Ö This function does not apply for the GEH60xxIL-31-B series. Name "GripForce" Data format UINT8 Permission Write Transfer Cyclical Value range 1 to 100% Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ● ● ●... -
Page 26: Drivevelocity" Parameter
Data format UINT16 Permission Write Transfer Cyclical 0.75 to max. jaw stroke of the gripper + 0.75 Value range Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ●... -
Page 27: Teachposition" Parameter
Data format UINT16 Permission Write Transfer Cyclical 0.75 to max. jaw stroke of the gripper + 0.75 Value range Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ●... -
Page 28: Statusword" Parameter
► This bit is active if the gripper is at "WorkPosition." Bit 11: "UndefinedPosition" ► This bit is active if the gripper is neither at "TeachPosition," nor "WorkPosition" nor "BasePosition." Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany ... -
Page 29: Diagnosis" Parameter
Ö The position measurement accuracy is: 0.1 mm If the "ActualPosition" parameter is used for detecting the workpiece, then fluctuations around the exact value must be taken into consideration during commissioning! Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany ... -
Page 30: Cold Start
The gripper has reached its "zero position" if the gripper jaws are at the pictured position when referencing ("Hom- ing" "DeviceMode" 10). Depending on installation size, the gripper jaws move slightly beyond the edge of the gripper housing when mov- ing to home position ("Homing"). Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany ... -
Page 31: Devicemode" 10
If the gripper jaws encounter resistance, they stop at this spot. In the process, the "ActualPosition" parameter is referenced to the maximum value of the gripper. NOTICE: Gripper jaws move inward when using this parameter! Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany ... -
Page 32: Devicemode" 16
Since the "ActualPosition" in this "DeviceMode" has an offset, the gripper does not know the position of the internal end stop. This makes it possible to move against the internal end stop at high speed, which can result in jamming of and damage to the gripper. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany ... -
Page 33: Devicemode" 17
Since the "ActualPosition" in this "DeviceMode" has an offset, the gripper does not know the position of the internal end stop. This makes it possible to move against the internal end stop at high speed, which can result in jamming of and damage to the gripper. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany ... -
Page 34: Interruption Of The Power Supply
"DataTransferOK" bit. The gripper is now ready for operation. INFORMATION: For further information on data transmission and possible positions, refer to the "StatusWord" section. Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 ... -
Page 35: Quickstart" Basic Parameters
//Queries the completion of the data transmission, "DataTransferOK"= FALSE ControlWord:= 512; //Handshake is completed, gripper now moves to WorkPosition (0x200 or 512(dec) = MoveToWork) iStep:= 80; END_IF; Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 36: Starting Gripping Movement
//Queries whether both direction flags ("ControlWord0x100" AND "ControlWord0x200" bit =FALSE in the ControlWord) ControlWord := 256; //Moves back towards BasePosition iStep := 50; END_IF; Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 37: Recipe Examples
//Queries the completion of the data transmission, "DataTransferOK"= FALSE, this procedure can take several seconds //Do other things... //Storage is completed END_IF; Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... -
Page 38: Operation
In the event of a power failure, the gripper jaws remain in their positions and the gripping force of the gripper stays constant. INFORMATION: Zimmer Customer Service is available to provide you assistance if you have any further questions on adjustable gripping force and the emergency release. HRC-01 emergency release series If necessary, the gripper can also be moved without a controller or voltage supply. - Page 39 0 to max. stroke process data Reflection of the 0x10A (266) WorkPosition UINT16 Read 0 to max. stroke process data Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ●...
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Page 40: Error Diagnosis
• Multiple bits were set in the single bit may be set. 0x0300 "ControlWord" not available "ControlWord." ► Check the "ControlWord." Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com... - Page 41 0x0402 • Gripper jaws are tensioned incorrectly. ► Error must be acknowledged. 0x0406 System/internal error • Internal error ► - Zimmer GmbH Im Salmenkopf 5 77866 Rheinau, Germany +49 7844 9138 0 +49 7844 9138 80 www.zimmer-group.com ●...
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Page 42: Maintenance
Dismantling and reassembling the gripper without authorization may result in complications, as special installation equipment is required in some cases. Zimmer GmbH shall not be liable in the event of unauthorized dismantling and reassembling of the gripper or in the event of any malfunction or damage resulting from this. -
Page 43: Declaration Of Incorporation
HRC01 electric gripper series 17. Declaration of Incorporation In terms of the EU Machinery Directive 2006/42/EC (Annex II 1 B) Name and address of the manufacturer: Zimmer GmbH, 77866 Rheinau, Germany, Im Salmenkopf 5 +49 7844 9138 0 ... -
Page 44: Declaration Of Conformity
INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series 18. Declaration of Conformity In terms of the EC Directive 2014/30/EC on electromagnetic compatibility Name and address of the manufacturer: Zimmer GmbH, 77866 Rheinau, Germany, Im Salmenkopf 5 +49 7844 9138 0 ...
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