Related Manuals for Zimmer SCM-C-05-10-A
Summary of Contents for Zimmer SCM-C-05-10-A
- Page 1 INSTALLATION AND OPERATING INSTRUCTIONS Robot-specific SCM and Comfort App for ABB robots DDOC01632 THE KNOW-HOW FACTORY www.zimmer-group.com...
- Page 2 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots Glossary Parameter Explanation Cmd_Grip Motion command for gripping the workpiece Cmd_Release Motion command for releasing the workpiece IsReleased The gripper signals that it is open. IsGrasped The gripper has gripped the workpiece and the position is within the taught-in workpiece window.
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Page 3: Table Of Contents
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots Content Supporting documents ................................5 Notices and graphics in the installation and operating instructions ..........................5 Safety notices ....................................6 Proper use ....................................6 Personnel qualification ................................7 Electricians ............................................7 Specialists ............................................7 Instructed personnel ..........................................7 Service personnel ..........................................7... - Page 4 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 15.3.4 Set Workpiece Number .......................................42 15.3.5 Prepare for changing the MATCH gripper (ZMATCHSTARTCHANGE) ......................43 15.3.6 Check OK to operate after changing Match gripper (ZISMATCHCHANGEDONE) ..................43 15.3.7 Example of Wizard function blocks ..................................43 16 Uninstalling the Comfort App ..............................
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Page 5: Supporting Documents
The documents listed below are available for download on our website www.zimmer-group.com. • Installation and operating instructions • Catalogs, drawings, CAD data, performance data •... -
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
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 4 Personnel qualification WARNING Inadequate qualification can cause injury and material damage If inadequately qualified personnel perform work on the product, this can cause serious injuries and significant material damage. ►... -
Page 8: Product Description
HMI software or Comfort App. The grippers can be controlled using the Comfort App on the robot control panel. Using the Comfort App, Zimmer GmbH grippers can be controlled directly from the robot control panel and generated robot jobs can be configured. -
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
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 9 Installation WARNING Risk of injury due to uncontrolled movements Risk of injury in case of unexpected movement of the machine or system into which the product is to be installed. ►... -
Page 11: Installing Standard Wiring
For the connection assignment of the SCM inputs and SCM outputs, refer to the installation and operating instructions of the SCM. The installation and operating instructions of the SCM are downloaded along with the Zimmer HMI. ► Note the potential equalization by connecting the GND/0V potentials of the SCM and robot control system. -
Page 12: Standard Wiring For Individual Grippers
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 9.1.2 Standard wiring for individual grippers SCM input and SCM output Basic gripper Advanced gripper Cmd_Release Out1 Out1 Cmd_Grip Out2 Out2 Cmd_Reset Out3 Out3 Cmd_MotorOn Out4 Cmd_Homing Out5 Cmd_WP_Bit0 Out6 Out6 Cmd_WP_Bit1... - Page 13 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 9.1.2.1 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 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 9.1.2.2 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
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 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
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 9.2 Installing the energy supply 9.2.1 Mounting the pin assignment Status Ethernet port IO-Link X1 IO-Link X2 Power supply of basic module X3 Digital input X4 Digital input X5 Digital output X6 Digital output X7 Power supply of IO module X8... -
Page 17: Installing The Power Supply For The Basic Module
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 9.2.2 Installing the power supply for the basic module ► Fuse the product using a suitable circuit breaker in accordance with the expected current draw and the cable cross-sections used. INFORMATION The signal and actuator voltage is electrically isolated in the product. -
Page 18: Installing Io-Link
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 9.2.4 Installing IO-Link NOTICE Non-compliance may result in material damage. If the wiring is done differently, the gripper will be damaged. If the gripper has an additional STO cable (Safe-Torque-OFF), this is wired with the external safety circuit independently of the SCM. -
Page 19: Installation Comfort App
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 12 Installation Comfort App 12.1 Setting up the Ethernet connection The Comfort App is installed via RobotStudio. INFORMATION RobotStudio must be installed on a Windows PC. The Ethernet port of this Windows PC must have the same subnet mask as that of the robot. -
Page 20: Installing The Comfort App
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 12.3 Installing the Comfort App The Comfort App is installed as an add-in via RobotStudio on the Windows PC and can then be operated on the robot control panel. ►... - Page 21 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots Ö The operating instructions of the Comfort App have been installed in RobotStudio. ► In the Controller tab, click the Installation Manager button. Ö The Installation Manager window opens. ►...
- Page 22 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots Ö The Distribution menu is displayed. ► Click the Add button. Ö The Select Distribution window opens. ► Select the Comfort App. ► Click the OK button. Ö The Comfort App is installed as an add-in in the Distribution menu.
- Page 23 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots ► Click the Apply button. Ö The installation is complete. ► Close the Installation Manager window. ► Switch off the power supply of the robot control system and robot control panel. ►...
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Page 24: Assigning Additional Input Signals And Output Signals
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 13 Assigning additional input signals and output signals After installing the Comfort App with the Standard connection option, 8 digital inputs and 8 digital outputs are configured. The signals of the standard configuration are assigned to the ABB_Scalable_IO I/O device. Because the I/O device can have more than eight digital inputs and outputs, the rest of the inputs and outputs can be used for other purposes. -
Page 25: Commissioning Comfort App
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 14 Commissioning Comfort App NOTICE ► Switch on the robot so that you can use the Comfort App. 14.1 Deleting existing setups The following screen is displayed only if an existing setup is found for two grippers. This screen does not appear if the available setup is only found for one gripper. - Page 26 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots Ö The View Configuration screen for editing the gripper configuration is displayed. ► Click the delete button. ► In the prompt, click the YES button. Ö The existing setup is deleted. Ö...
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Page 27: Creating A Gripper Configuration
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 14.2 Creating a gripper configuration 14.2.1 Selecting the connection type ► Click Gripper if you have connected a gripper. ► Click MATCH if you have connected a MATCH gripper. ►... - Page 28 ► Click the desired gripper type. ► Click the next button. 14.2.2.3 Selecting the gripper series INFORMATION Basic and Advanced designate different classes of grippers from Zimmer GmbH. ► Click the class of your gripper. ► Click the next button.
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Page 29: Manual Control
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 14.2.2.4 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 30 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 14.2.2.5 Selecting the command connections NOTICE The gripper wiring must match the gripper configuration done in the Comfort App. NOTICE If this screen is displayed for the first time, a standard assignment is displayed. ►...
- Page 31 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 14.2.2.6 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 32 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 14.2.2.7 Storing gripper configuration Ö The Manual control screen for the manual control is displayed. ► For more information, refer to the section "Manual control". ► Click the next button. ►...
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Page 33: Match Connection Type
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 14.2.3 MATCH connection type 14.2.3.1 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. - Page 34 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 14.2.3.2 Selecting the command connections NOTICE If this screen is displayed for the first time, a standard assignment is displayed. ► Complete the wiring precisely as shown on this screen. 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").
- Page 35 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 14.2.3.3 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 36 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 14.2.3.4 Storing gripper configuration Ö The Manual control screen for the manual control is displayed. ► For more information, refer to the section "Manual control". ► Click the next button. ►...
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Page 37: Operation
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 15 Operation 15.1 Control principle of the gripper ► Prepare Advanced grippers for the control system: ► If necessary, do a reference run (ZHOMING). ► Check if the reference run was done (ZISHOMINGOK or ZISHOMINGSUCCESS). ►... - Page 38 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots Generated robot job name Parameter In Parameter Out Function ZISOPENED1 Outputs TRUE if the 1: Address gripper 1 bOpened ZISOPENED2 gripper is open. 2: Address gripper 2 = TRUE, if gripper is open = FALSE, if gripper is closed bCmdFail = TRUE, if command fails...
- Page 39 Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots Generated robot job name Parameter In Parameter Out Function ZISHOMINGSUCCESS1 Outputs TRUE if the 1: Address gripper 1 bHomeSuccess ZISHOMINGSUCCESS2 referencing of the 2: Address gripper 2 = TRUE, if ZHOMING command was gripper is successful.
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Page 40: Wizard Function Blocks
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 15.3 Wizard function blocks Using the Wizard function blocks, the grippers can be programmed easily. The parameters can be configured using drop-down combo boxes. All function blocks use predefined global variables that are returned after running. Global variables Function z_Success... -
Page 41: Grip
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 15.3.1 Grip In this function block, you can configure whether you want to address the first or second gripper. You can configure which action is to be taken in case of an error or if the confirmation time is exceeded. •... -
Page 42: Do Homing
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 15.3.3 Do Homing In this function block, you can configure whether you want to address the first or second gripper. You can configure which action is to be taken in case of an error or if the confirmation time is exceeded. •... -
Page 43: Prepare For Changing The Match Gripper (Zmatchstartchange)
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 15.3.5 Prepare for changing the MATCH gripper (ZMATCHSTARTCHANGE) This function block can be used only for MATCHgrippers. All configured robot outputs for MATCHgrippers are switched off. This function block does not wait for confirmation. The global variables z_Success and z_Error are set or reset depending on the result. -
Page 44: Uninstalling The Comfort App
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 16 Uninstalling the Comfort App ► Start RobotStudio. ► In the Controller tab, click the Installation Manager button. Ö The Installation Manager window opens. ► In the Controllers menu, select the control system. -
Page 45: Uninstall Add-In
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 16.1 Uninstall add-in INFORMATION To update the Comfort App to a higher version, the add-in in RobotStudio must be uninstalled. ► Click the Add-In tab. ► In the Add-Ins menu, right-click the add-in of the Comfort App. -
Page 46: Rohs Declaration
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 18 RoHS declaration in terms of the EU Regulation 2011/65/EU Name and address of the manufacturer: Zimmer GmbH Im Salmenkopf 77866 Rheinau, Germany +49 7844 9138 0 info@zimmer-group.com... -
Page 47: Declaration Of Conformity
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 19 Declaration of Conformity As defined by the EC Directive 2014/30/EU on electromagnetic compatibility Name and address of the manufacturer: Zimmer GmbH Im Salmenkopf 77866 Rheinau, Germany ... -
Page 48: Declaration Of Conformity
Installation and operating instructions: Robot-specific SCM and Comfort App for ABB robots 20 Declaration of Conformity In terms of the EU Directive 2014/35/EU (Low voltage directive) Name and address of the manufacturer: Zimmer GmbH Im Salmenkopf 77866 Rheinau, Germany ...
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