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Summary of Contents for Zimmer SCM
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS Robot-specific SCM and Comfort App for universal robots DDOC01258 THE KNOW-HOW FACTORY www.zimmer-group.com...
- Page 2 The gripper has gripped the workpiece and the position is within the taught-in workpiece window. IsClosed The gripper has gripped but there is no workpiece, so it is in the maximum 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
13.3.1 URCaps Zimmer ........................................30 14 Operation ....................................31 14.1 Control principle of the gripper ......................................31 14.2 Overview of generated robot jobs ....................................31 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 4 16 Error diagnosis ................................... 33 17 RoHS declaration ..................................34 18 Declaration of Conformity ................................. 35 19 Declaration of Conformity ................................. 36 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
► The product may only be used in accordance with these installation and operating instructions and the product's technical data. Ö Zimmer GmbH shall accept no liability for any damage caused by improper use. The operator bears sole responsibility. 3 Proper use... -
Page 7: Personnel Qualification
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 8: Product Description
5 Product description The Smart Communication Module (SCM) is a gateway between the grippers and the robot control system. The SCM can be configured via the HMI software or Comfort App. The grippers can be controlled using the Comfort App on the robot control panel. -
Page 9: Technical Data
7 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 10: Installation
► Keep a clearance of 5 cm each on the side of the ventilation slots of the product for air circulation. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 11: Installing Standard Wiring
Another reason is if, on your robot, you can assign more than eight robot inputs and eight robot outputs to the gripper functions. In this case, you can use the full functionality of the SCM by assigning all SCM inputs and SCM outputs to the robot inputs and robot outputs. -
Page 12: Wiring Of The Robot Control System
Ö Expands the number of workpiece recipes to up to 15 pieces. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 13 9.1.2.2 Basic gripper If you keep the standard wiring, you can address workpiece numbers 1 to 7 because the SCM input Cmd_WP_Bit3 and the SCM output Act_WP_Bit3 are not connected. Deviate from the standard wiring and add the necessary signals in the wiring to address all workpiece numbers from 1 to 15.
- Page 14 9.1.2.3 Advanced gripper If you keep the standard wiring, you can address workpiece numbers 1 to 3, because the SCM inputs (Cmd_WP_Bit2 and Cmd_WP_Bit3) and SCM outputs (Act_WP_Bit2 and Act_WP_Bit3) are not connected. Deviate from the standard wiring and add the necessary signals in the wiring to address all workpiece numbers from 1 to 15.
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Page 15: Standard Wiring For Two Grippers
9.1.3 Standard wiring for two grippers In the scenario with two grippers, the SCM does not add the SCM inputs and SCM outputs provided for the workpiece numbers. Even if your robot has additional robot input and robot output lines available, only one workpiece per gripper is addressed. -
Page 16: Installing The Energy Supply
Power supply of basic module X3 Digital input X4 Digital input X5 Digital output X6 Digital output X7 Power supply of IO module X8 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 17: Installing The Power Supply For The Basic Module
► Connect pin 5 of the basic module to pin 17 of the IO module. ► Connect pin 6 of the basic module to pin 18 of the IO module. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 18: Installing Io-Link
► For information, refer to the commissioning instructions for the HMI. 11 Commissioning HMI INFORMATION ► For information, refer to the commissioning instructions for the HMI. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 19: Installation Comfort App
► Press the + Button. ► Navigate to the file zimmerDigital-urcap. ► Select the file Z_UR_ComfortApp_X.X.X. ► Press the Open button. Z_UR_ComfortApp_1.3.0 Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 20 App has been installed correctly. Ö The Comfort App has been installed correctly if the green checkmark is displayed in the Active URCaps area. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 21: Commissioning Comfort App
In the Manual control screen, you can operate the gripper manually and display the status. ► Click the delete button. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 22: Creating A Gripper Configuration
Selecting the gripper series Selecting the Saving the gripper command connec- configuration tions Selecting the status connections Manual control Saving the gripper configuration Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 23: Selecting The Connection
► Click Gripper if you have connected a gripper. ► Click MATCH if you have connected a MATCH gripper. ► Click the next button. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 24: Selecting The Number Of Grippers
► Click the next button. 13.2.4 Selecting the gripper type ► Click the desired gripper type. ► Click the next button. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 25: Selecting The Gripper Series
Basic and Advanced designate different classes of grippers from Zimmer GmbH. ► Click the class of your gripper. ► Click the next button. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 26: Selecting The Command Connections
To reset the values to the defaults, edit the values or return to the selection of the number of grippers (see the section "Selecting the number of grippers"). ► Establish the correspondence of the robot output number with the digital input function of the SCM. You can accept the default assignment or change it. -
Page 27: Selecting The Status Connections
SCM and Comfort App for Universal Robots 13.2.7 Selecting the status connections ► Establish the correspondence of the robot input number with the digital input function of the SCM. NOTICE If this screen is displayed for the first time, a standard assignment is displayed. -
Page 28: Manual Control
13.2.8 Manual control NOTICE The prerequisite for the function test is that the wiring between the robot and SCM is present and that the robot, SCM and gripper are switched on. You can test and operate the function of the gripper and view its status in the lower area of the screen. -
Page 29: Saving The Gripper Configuration
► In the prompt, click the Ok button. Ö The gripper configuration is complete. Ö The function blocks/subprograms have been created and are available for programming. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 30: Urcaps
► In the Command drop-down menu, select the robot job that you want to define for the gripper. ► Activate the desired checkboxes. Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... -
Page 31: Operation
= TRUE, if workpiece is active present. = FALSE, if workpiece is not active bCmdFail = TRUE, if command fails = FALSE, if command was successful Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com... - Page 32 = TRUE, if motor is on switched on. = FALSE, if motor is off bCmdFail = TRUE, if command fails = FALSE, if command was successful Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com...
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Page 33: Uninstalling The Comfort App
► More information can be found in the installation and operating instructions of the gripper. ► 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 34: Rohs Declaration
Rheinau, Germany, 2020-02-28 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 35: Declaration Of Conformity
Rheinau, Germany, 2020-02-28 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 36: Declaration Of Conformity
Rheinau, Germany, 2020-02-28 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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