Table of Contents
Related Manuals for Zimmer GEP2006IO-12-B-02
Summary of Contents for Zimmer GEP2006IO-12-B-02
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS 2-jaw parallel gripper electric, robot-specific GEP2006IO-12-B-01 GEP2010IO-12-B-01 GEP2013IO-12-B-01 GEP2016IO-12-B-01 GEP2006IO-12-B-02 DDOC01113-01 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 detection Function which, in case of workpiece loss, causes the product to move to the end 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
Installing the product ................................8 Installing the energy supply ......................................8 Pin assignment ..........................................9 5.2.1 Pin assignment GEP20xxIO-12-B-01................................9 5.2.2 Pin assignment GEP2006IO-12-B-02 ................................9 Commissioning ................................... 10 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 4: Supporting Documents
► Please contact Customer Service if you have any questions. In these installation and operating instructions, "product" refers to the product designation on the title page! Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 5 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...
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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: Installing The Product
Ö Damage to the contacts can result in malfunction of the product. ► Connect the power supply cable to the control system of the product. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 9: Pin Assignment
► Connect the product to the voltage supply. ► Ensure the proper voltage supply. • A voltage supply between pin 5 and pin 8 is necessary for operation. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 10: Commissioning
Digital input 1: Out- ward move command Low level > 10 ms High level Digital input 2: Inward move command Low level Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 11 INSTALLATION AND OPERATING INSTRUCTIONS 2-jaw parallel grippers electric GEP2000IO-00 GEP2000IO-05 GEP2000IO-45 GEP2000IL-00 DDOC01113 THE KNOW-HOW FACTORY www.zimmer-group.com...
- Page 12 Depending on the application, this can be the end position or the work position. Workpiece loss detection Function which, in case of workpiece loss, causes the product to move to the end position. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 13 12.4 Parameters ............................................24 12.4.1 ControlWord .........................................24 12.4.2 DeviceMode .........................................26 12.4.3 WorkpieceNo ........................................28 12.4.4 PositionTolerance ........................................28 12.4.5 GripForce ..........................................29 12.4.6 TeachPosition ........................................29 12.4.7 StatusWord ...........................................30 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 14 19 RoHS declaration ..................................46 20 REACH declaration ..................................46 21 Declaration of Incorporation ..............................47 22 Declaration of Conformity ................................. 48 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 15: Notices And Graphics In The Installation And Operating Instructions
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 16: 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 17: 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 18: Product Description
A type plate is attached to the product. The type plate shows the part number and serial number. XX-XXXXXX Article number Confirmation number Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 19: Functional Description
Despite its small installation space, the product is suited for gripping a wide range of form-fit and frictional fit parts. The product can be controlled like a valve via I/O ports or via IO-Link. Power supply Emergency release Gripper jaw Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 20: Led Status Display
(e.g. an emergency stop). ► 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 21: 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 22: Installation
► Make sure that the mounting piece is sufficiently rigid. ► Ensure the cleanliness of the connection surfaces. ► Please note the permitted tightening torques of the mounting screws at www.zimmer-group.com/en/td. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 23: Installing The Product
► Use an adapter plate if necessary. ► For information on optional accessories and those included in the scope of delivery, refer to our website. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 24: 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 25: Installing The Energy Supply
► Connect the product to the voltage supply. ► Ensure the proper voltage supply. • A voltage supply between pin 1 and pin 3 is necessary for operation. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 26: Pin Assignment Gep2000Io-00
GND actuator 0 V DC supply voltage for actuator ► Connect the product to the IO-Link master. ► Ensure the proper voltage supply. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 27: B12-Y-5Il Y-Cable Pin Assignment
24 V DC sensor 24 V DC supply voltage for IO-Link communication Blue GND sensor 0 V DC supply voltage for IO-Link communication Black IO-Link communication Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 28: 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 29: Commissioning For Gep2000Io-00/Gep2000Io-05/Gep2000Io-45
► Observe a break time of 10 ms between the reset of the signal and the next command. INFORMATION The switching sequence only applies to the digital versions of the GEP2000 series. • GEP2000IO-00 • GEP2000IO-05 • GEP2000IO-45 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 30 Digital input 1: Out- ward move command Low level > 10 ms High level Digital input 2: Inward move command Low level Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 31: Current Supply Profile Of Gripping Process
If the workpiece is lost, the product moves to the end position. 11.3 Minimum travel path Design size Minimum travel path per gripper jaw [mm] GEP20xxIO-00 GEP20xxIO-05 GEP20xxIO-45 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 32: Commissioning The Gep2000Il-00
PositionTolerance UINT8 Process data output Control system Product Process data input Process data input 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 33: Iodd Import
Ö The data transfer is complete when the product sends back StatusWord.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 34: 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 35 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...
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Page 36: Devicemode
Name DeviceMode Data type 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 37 500 ms after a gripped workpiece mand INFORMATION 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...
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Page 38: Workpieceno
This means that the TeachPosition range starts at 13.5 mm and goes all the way up to 16.5 mm. PositionTolerance Position TeachPosition Name PositionTolerance Data type UINT8 Permission Write Transfer Cyclical Value range 0 to 255 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 39: Gripforce
0 to max. 3200 Name TeachPosition Data type UINT16 Permission Write Transfer Cyclical Value range 0 to max. jaw stroke of the product [0,01 mm] Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 40: Statusword
Active if the product has an active error. The error message can be determined using Diagnosis. Name StatusWord Data type 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 41: Diagnosis
• The accuracy of the position measurement depends on the installation size. ► 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 42: 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 43: Quickstart Basic Parameters
// Handshake is completed, // 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 44: 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 45: Recipe Examples
IF NOT StatusWord.12 THEN // 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 46: 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 47: Operation
► Please contact Customer Service if you have any questions. 13.1 Setting the gripping force GEP2000IO The gripping force can be adjusted in four stages using a rotary switch. Rotary switch Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 48: Emergency Release Of Gep2000Io
► Make sure that the workpiece is secured when opening the product. Design size Wrench size [mm] GEP2006IO-xx GEP2010IO-xx GEP2013IO-xx GEP2016IO-xx Protective cap Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 49: Setting The Gripping Force Gep2000Il-00
14 Gripping force charts INFORMATION ► 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 50: Error Diagnosis
► Please contact Customer reference position. 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 51 • Internal error ► Please contact Customer Service. 0x0411 No production parameters • Internal error ► Please contact Customer present on the product. Service. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 52: Status In Led Display For Error Gep2000Io
⬤ ⬤ ⬤ ⬤ 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 53 Read out of the transmitted gripping force 0x0107 (263) DriveVelocity UINT8 Read 1 to 100 % Read out of the transmitted movement speed Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
- Page 54 • 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...
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Page 55: Maintenance
► Disconnect the product completely from the power supply. ► 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 56: Rohs Declaration
Rheinau, Germany, 2022-10-04 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 57: Declaration Of Incorporation
Rheinau, Germany, 2022-10-04 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 58: Declaration Of Conformity
Rheinau, Germany, 2022-10-04 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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