Related Manuals for Zimmer Match LWR50L-21 Series
Summary of Contents for Zimmer Match LWR50L-21 Series
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS 2-jaw parallel gripper with quick-change system LWR50L-21 series LWR50L-22 series DDOC01071 THE KNOW-HOW FACTORY www.zimmer-group.com...
- Page 2 Selection of the workpiece recipes stored in the product WorkPosition Inner jaw position on 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
11.4.7 DriveVelocity ........................................32 11.4.8 BasePosition ........................................32 11.4.9 ShiftPosition .........................................33 11.4.10 TeachPosition ........................................33 11.4.11 WorkPosition ........................................33 11.4.12 StatusWord ...........................................34 11.4.13 Diagnosis ..........................................35 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 4 18 RoHS declaration ..................................51 19 REACH declaration ..................................51 20 Declaration of Incorporation ..............................52 21 Declaration of Conformity ................................. 53 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
► Always adhere to the required maintenance intervals. ► When using the product under extreme conditions, adjust the maintenance interval according to the degree of contamination. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 7 Improper handling of suspended loads can cause serious injury. ► Always keep an adequate safety distance from suspended loads. ► Never walk underneath a suspended load. 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 (end effector with loose part). The basic and proven safety principles from DIN EN 13849-1 can be complied with only if original parts from Zimmer GmbH are used. -
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 end effector with loose part is designed in such a way that incorrect insertion into the storage station is impossible. End effector with loose part for quick-change system Signal transmission Rotation prevention/torque absorption Emergency release Locking Gripper jaw LED display Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 12: Led Status Display
► For information on the LED display, refer to the installation and operating instructions of the fixed part on our website. • LWR50F The LED display is optionally available on the fixed part. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 13: Sensors
Sensor in storage position (end effector with loose part End effector with loose part for quick-change system present) Sensor in inspection position (test channel, locking 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 (end effector with loose part 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
(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 16: 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 17: Installation
INFORMATION ► For information, refer to the installation and operating instructions of the fixed part on our website. • LWR50F Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 18: Installing The Stationary Part And End Effector With Loose Part
Rotation prevention: The design rules out incorrect joining, as the end effector with loose part is equipped with two different bolts. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 19: 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 20: Commissioning
UINT16 ShiftPosition UINT16 TeachPosition UINT16 WorkPosition UINT16 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 21: 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 22: 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 23: Devicemode
ControlWord Idle 0x0001 Gripper reset 0x0001 Switch on the motor. 0x0001 Switch off motor/stop gripping movement. 0x0001 Activate jog mode. 0x0400/0x0800 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 24: Movement Profiles
Special movement profile for a faster movement of the product. The product must never be jammed, i.e. neither be stopped at the end stop nor have gripped a workpiece. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 25 However, it is no longer possible to generate the full gripping force. The gripping force generated in these mode groups depends on the elasticity of the workpiece. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 26 Move toward the BasePosition until this position or the workpiece is reached. 0x0100 Move toward the WorkPosition for opening the product. 0x0200 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 27 Move toward the WorkPosition until this position or the workpiece is reached. 0x0200 Move toward the BasePosition to open the product. 0x0100 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 28 Move toward the BasePosition to open the product. 0x0100 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 29 BasePosition is reached. 95 Move toward the WorkPosition for opening the product. 0x0200 DriveVelocity GripForce TeachPosition PositionTolerance 0 point BasePosition ShiftPosition WorkPosition Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 30 Move with v = DriveVelocity to the ShiftPosition and then with GripForce until the 0x0100 workpiece or the BasePosition is reached. Move toward the WorkPosition for opening the product. 0x0200 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 31: 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 32: Gripforce
BasePosition Data format UINT16 Permission Write Transfer Cyclical Value range 0.75 to max. jaw stroke of the product + 0.75 mm Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 33: Shiftposition
WorkPosition Data format UINT16 Permission Write Transfer Cyclical Value range 0.75 to max. jaw stroke of the product + 0.75 mm Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 34: Statusword
Bit 9: TeachPosition Active if the product is set to TeachPosition. Bit 10: WorkPosition Active if the product is set to WorkPosition. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 35: Diagnosis
Select a StatusWord bit between 8 and 11 to check whether the workpiece has been gripped correctly. Tolerance ranges are taken into account for these bits. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 36: Cold Start
Special outside homing – to the external end stop (see "DeviceMode 16" section) Special inside homing – to the external end stop (see "DeviceMode 17" section) Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 37 Depending on installation size, the gripper jaws move slightly beyond the edge of the gripper housing when moving to home position (Homing). Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 38: Devicemode 10
Ö In the process, the ActualPosition is referenced to the maximum jaw stroke of the product. Ö The motor is switched on. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 39: Devicemode 16
Ö This makes it possible to move against the internal end stop at high speed, which can result in jamming of and damage to the product. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 40: Devicemode 17
Ö This makes it possible to move against the internal end stop at high speed, which can result in jamming of and damage to the product. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 41: Interruption Of The Power Supply
StatusWord with the DataTransferOK bit. Ö The product is ready to operate. INFORMATION ► For information about data transfers, refer to the "StatusWord" section. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 42: Quickstart Basic Parameters
ControlWord := 512; // Handshake is completed, // Product moves to WorkPosition (0x0200 or 512(decimal) = MoveToWork) iStep := 50; END_IF Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 43: Starting The Gripping Movement
// (Bit ControlWord 0x0100 AND // ControlWord 0x0200 = FALSE in ControlWord) ControlWord := 256; // Moves back toward BasePosition iStep := 50; END_IF; Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 44: Recipe Examples
// Query for completion of the data transfer, // DataTransferOK = FALSE // Do other things... // Storage is completed END_IF; Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 45: Loading A Recipe
// Do other things... //Handshake is completed, // Parameters from the third recipe have been taken over into the current process parameters. END_IF; Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 46: Operation
► You can find the information in the technical data sheet 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
► Reference the product. referenced. is not referenced. ► Wait until the reference run • A reference run is being is complete. performed. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 48 • Internal error ► Please contact Zimmer Customer Service. 0x040F Internal error • Internal error ► Please contact Zimmer Customer Service. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 49 0x010A WorkPosition UINT16 Read 0 to max. jaw Reflection of the (266) stroke of the process data product Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 50: 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 51: 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 52: 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 53: 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...