Zimmer MATCH LWR50F-09-03-A Installation And Operating Instructions Manual
Rbot module
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Summary of Contents for Zimmer MATCH LWR50F-09-03-A
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS MATCH robot module LWR50F-01-03-A LWR50F-09-03-A DDOC01360 THE KNOW-HOW FACTORY www.zimmer-group.com...
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Page 3: Table Of Contents
12.11 Setting the speed for opening the gripper ..................................33 12.12 Checking the settings ........................................34 12.13 Saving the workpiece recipe ......................................35 12.14 Data storage ended ...........................................36 12.15 monitorZ control level ........................................37 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 4 16 Resetting to factory settings ..............................46 17 Decommissioning/disposal ..............................46 18 RoHS declaration ..................................47 19 REACH declaration ..................................47 20 Declaration of Incorporation ..............................48 21 Declaration of Conformity ................................. 49 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 notice warns of possible material and environmental damage. Ignoring these notices can result in damage to the product or the environment. INFORMATION 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
• 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. ► Make sure that the power supply is disconnected before you mount, adjust, modify, maintain or repair the product. -
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: Personnel Qualification
Persons who work with the product must be familiar with the valid safety regulations and laws as well as the standards, guidelines and laws listed in this document. Personnel who work with the product must have facility-issued authorization to commission, program, configure, operate, maintain and also decommission this product. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 9: Product Description
The basic and proven safety principles from EN ISO 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: MATCH robot module (LWR50F-xx) MATCH gripper (LWR50L-xx) MATCH storage station (ALWR1-50-A) (sensors optional) For the overall safety of the function, all three components (MATCH robot module, MATCH gripper, and MATCH storage station) must be taken into account (see "Functional Safety"... -
Page 10: Type Plate
► Install the HMI software and teach in the workpieces. ► Install the MATCH Comfort App, see the operating instructions for the robot-specific MATCH Comfort App. 5.1 Type plate 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 11: Functional Description
Positioning the MATCH gripper Pneumatic feedthrough Connect LED, Freedrive Spring pin contacts Locking LED ring INFORMATION ► For information on the compatible MATCH grippers, refer to our website. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 12 When using a gripper with SCM, the desired workpieces can be selected via a connection of the robot inputs and robot outputs in order to define the correct workpiece bit numbers. If there is no connection of robot inputs, workpiece 1 is set by default. Work piece Cmd_WP_ Bit0 Bit1 Bit2 Bit3 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 13: Led Status Display
One MATCH robot module coupled. 6.1.2 LED ring The product has an LED ring. The colors of the LED ring reflect the status of the IO-Link device in the MATCH gripper. The LED ring enables a 360° status display. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 14 • IO-Link device at • Workpiece end position vacuumed (vacuum > H2) • No taught-in workpiece gripped. Continuous light • IO-Link device • Neutral state moving (vacuum > H2) Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 15: Basic Module Led Display
IO module LEDs are off. • Supply voltage not OK ► Actuator voltage not OK Continuous light • An error is present ► Connect the supply voltage. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 16 • IO-Link device moving Continuous light • IO-Link device at UndefinedPosition (P 24 V) Continuous light • Actuator voltage OK • Actuator voltage not OK ► Use a compatible IO-Link device. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 17: Functional Safety
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
Further installation information: • The mounting screws are not included in the scope of delivery. ► Install the product on an appropriate mounting surface in accordance with the flatness specifications. ► 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 19: Installing The Product
► Tighten the mounting screws crosswise. Connection Mounting screw 10.2 Installing the energy supply 10.2.1 Installing the pneumatic system ► Unscrew the grub screws. ► Mount the screw fittings in the provided connections. Close gripper Open gripper Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 20: Installing The Wiring
► Switch off the voltage supply on the robot tool I/O. ► Connect the product to the robot control system. The selected MATCH robot module is equipped with an integrated Smart Communication Module (SCM) with RS485 interface. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 21: 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 Customer Service if you have any questions. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 22: Installation
Every SCM device is delivered with a digitalZ document including a download code. ► Download the HMI software ZG_IO_LINK_HMI using the reference link specified in the digitalZ document or the QR code. ► Install the HMI software ZG_IO_LINK_HMI on a Windows PC. INFORMATION ► For more information, see the operating instructions for the robot-specific MATCH Comfort App. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 23: Commissioning
This information applies only to installation size LWR50F-01-03-A. If you test the product via the MATCH Comfort App using the GuideZ For-Robot function, the settings in the following sections are not necessary. ► For more information, see the operating instructions for the robot-specific MATCH Comfort App. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 24: Establishing The Connection
• expertZ: expert level where all gripper data can be accessed. • guideZ: configuration level where the gripper can be taught in to the desired workpiece. • monitorZ: diagnostic and observation level for monitoring the gripper during operation. ► Connect the Windows PC with the installed HMI software ZG_IO_Link_HMI. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 25: Selecting The Language
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50F-01-03-A, LWR50F-09-03-A 12.2 Selecting the language ► Click the flag to change the language of the HMI software. 12.3 Checking the version ► Click the Zimmer logo to view information about the HMI software. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 26: Selecting The Gripper
► Click the search button. Ö The connected grippers are listed. ► Click the desired gripper to teach this in to the workpiece. Ö The guideZ control level opens. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 27: Switching On And Referencing The Motor
► Click and hold the > < button for referencing the gripper. Ö This also references the gripper towards the outside or inside. ► Click the > button. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 28: Selecting The Gripping Direction
► Select the gripping direction. Outside gripping Inside gripping Ö The parameters are set for the gripper automatically. Ö The step stateLED lights up green. ► Click the > button. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 29: Teaching In The Workpiece
Ö The gripper detects the standstill and remembers the workpiece position. INFORMATION You can use the grip button and the release button to test the settings. ► Click the > button. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 30: Setting The Workpiece Tolerance
► Slide the bar to a tolerance of 0.00 mm to 2.55 mm. INFORMATION A gripper with servo function automatically sets its closed position just after the workpiece tolerance. ► Click the > button. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 31: Setting The Open Position
The open position can only be set for grippers with a servo function. ► Click and hold the > < and < >buttons to set the position at which the gripper is to be open. ► Click the > button. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 32: Setting The Gripping Force
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50F-01-03-A, LWR50F-09-03-A 12.10 Setting the gripping force Depending on the gripper, the gripping force can be configured and in addition, the speed for closing can be configured. ► Slide the bar to the desired gripping force. ► Click the > button. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 33: Setting The Speed For Opening The Gripper
Setting the speed for opening the gripper is only possible for grippers with a servo function. ► Slide the bar to the desired speed. ► Click the > button. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 34: Checking The Settings
The Table view shows the parameters of the corresponding gripper generated in the background. The TwinCat2 and TIA views show the wiring of the PLC function blocks to fit the parameters of the gripper. ► Click the Save button. Ö The window for saving the workpiece recipe opens. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 35: Saving The Workpiece Recipe
The workpiece recipe numbers in a green frame show stored recipes of the current gripper. The workpiece recipe numbers in an orange frame show stored recipes of another gripper. ► Click the desired workpiece recipe number. ► Click the save WP button. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 36: Data Storage Ended
► After successful data storage, the window for teaching in a new workpiece is displayed, see the section "Teaching in the workpiece". ► Click the monitorZ button if you want to switch to the monitorZ control level instead. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 37: Monitorz Control Level
Ö The control system of the gripper with the HMI software ZG_IO_LINK_HMI is no longer possible because the input and output signals now have control. Ö You can move the gripper with the external control system and the saved settings. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 38: Expertz Control Level
► Click the release button or the grip button to apply the changes and run the motion task. Ö The HMI software checks whether the value can be processed by the gripper and, if necessary, adapts these to its limit values. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 39: Service
The Data transfer time is the time needed for data transmission to the gripper. 12.16.1.3 Automatic time The Automatic time is the pause time of the automatic sequence. ► Slide the bar to the desired time. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 40 ► In the Application settingsarea, enable the USB master only option if network communication is to be switched off. ► Enable the option only if you have a Zimmer PrepBox with a USB cable. Ö The HMI software searches for USB nodes only.
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Page 41: Starting The Automatic Sequence
In the to save area, the data that can be stored to the selected workpiece recipe number with the save WP button is displayed. ► Click the w.piecebutton to open workpiece recipe management. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 42 ► Click the desired data set. ► Click the Import button. 12.16.3.2 Exporting workpiece recipes ► Click the export all button. Ö All workpiece recipes are stored on the hard drive: C:\Temp\Zimmer_ Group\WorkPieces Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 43: Isdu
The ISDU is acyclic service data that is written directly to the memory of the gripper. This data is thus not stored in the SCM. Acyclic service data that is writable can be adapted here. ► Click the ISDU button to view the acyclic service data. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 44: Selecting The Active Gripper(S)
If two grippers are connected, you can select whether both are to be active or only one of the two. Both connected grippers are active. Only one of the two connected grippers is active. ► Click the corresponding gripper to select it. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 45: Operation
► For further information on troubleshooting for grippers, refer to the current installation and operating instructions of the gripper on our website. ► Please contact Customer Service if you have any questions. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 46: Maintenance
► Have maintenance work that requires disassembly of the product performed by customer service if 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. 16 Resetting to factory settings NOTICE When a reset to factory settings is performed, all saved information is deleted. -
Page 47: Rohs Declaration
REACH regulation (“Duty to communicate information on substances in articles”). Michael Hoch Rheinau, Germany, 2021-04-01 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 48: Declaration Of Incorporation
Machinery and an EC Declaration of Conformity has been drawn up in accordance with Annex II 1 A. Kurt Ross Rheinau, Germany, 2021-04-01 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 49: Declaration Of Conformity
A full list of applied standards can be obtained from the manufacturer. Kurt Ross Rheinau, Germany, 2021-04-01 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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