Zimmer GED5000IL Series, Installation And Operating Instructions Manual

Page 1: ...www zimmer group com INSTALLATION AND OPERATING INSTRUCTIONS 2 jaw parallel gripper 3 jaw concentric gripper GEP5000IL GED5000IL series DDOC00211 THE KNOW HOW FACTORY...

Page 2: ...rance window for the TeachPosition BasePosition and WorkPosition The value of the parameter acts in both directions BasePosition The BasePosition is the outer JawPosition Depending on the gripper prof...

Page 3: ...6 8 1 Movement profile of the travel of the gripper toward the WorkPosition outside gripping 12 6 8 2 Movement profile of the travel of the gripper toward the BasePosition inside gripping 13 7 Install...

Page 4: ...P5000IO GED5000IO 37 9 2 Menu cycle course of action for GEP5000IO GED5000IO 38 9 3 Menu function for GEP5000IO GED5000IO 38 9 4 Menu settings for GEP5000IO GED5000IO 39 9 4 1 Menu 1 Force setting 39...

Page 5: ...ked with signal words DANGER This notice warns of an imminent danger to the life and health of people Ignoring these notices can lead to serious injury or even death You absolutely must comply with th...

Page 6: ...adding drilled holes or threads may be made only with prior approval from Zimmer GmbH The specified maintenance intervals are to be observed also refer to the Maintenance section When the product is u...

Page 7: ...cal condition that corresponds to the guaranteed parameters and operating conditions Zimmer GmbH shall accept no liability for any damage caused by improper use The operator bears sole responsibility...

Page 8: ...orrect An incorrect configuration or selection can lead to malfunction The product is a secure quick change system in accordance with DIN ISO 13849 1 The basic and proven safety principles from DIN EN...

Page 9: ...ative to each other The power of the motor is converted into a linear movement by means of a wedge hook transmission and is thereby transferred to the gripper jaws Despite its small installation space...

Page 10: ...mmunication cp Plus button Increase parameter value cm Error cq Set button cn Position display menu cr Minus button Decrease parameter value co Parameter display Binary error code display cp cl cm co...

Page 11: ...efer to our website at www zimmer group com Please contact Zimmer Customer Service if you have any questions 6 4 Verified configuration examples INFORMATION For information on verified configuration e...

Page 12: ...lation size Minimum travel path GEP GED5006IO IL 1 25 mm per gripper jaw GEP GED5008IO IL 1 25 mm per gripper jaw GEP GED5010IO IL 1 25 mm per gripper jaw Then the gripper moves slightly past the fron...

Page 13: ...sePosition inside gripping Greifrichtung BasePosition 1 100 mm WorkPosition 1 100 mm TeachPosition PositionTolerance Anfahrtsweg 1 25 mm 0 2 mm je Backe verbotener Greifbereich Toleranz Toleranz Endla...

Page 14: ...event of unexpected movement of the product when the power supply is connected Switch off the power supply to the product before all work Secure the power supply against being switched on unintentiona...

Page 15: ...g the mechanical system 7 2 1 Installing GEP5000IL The product can be installed with its base or side on the mounting piece The following work steps must be observed during installation Insert the cen...

Page 16: ...DOC00211 i 7 2 2 Installing GED5000IL The product can be installed with its base or side on the mounting piece The following work steps must be observed during installation Insert the mounting pins bm...

Page 17: ...DOC00211 i 7 3 Installing the power supply Observe the following work steps Connect the power supply cable You can find the corresponding supply cables on our website NOTICE The cables that are used b...

Page 18: ...4 1 Installing the wiring Pin Color Function Explanation 3 2 1 4 5 1 Brown 24 V DC sensor Power supply for IO Link communication 2 White 24 V DC actuator Actuator supply voltage 3 Blue GND sensor 0 V...

Page 19: ...or message 4 Yellow TeachPosition Output Gripper in programming position message 5 Gray BasePosition Output Gripper in base position message 6 Pink 24 V DC Supply voltage 24 V DC 5 A 7 Blue Teach Adju...

Page 20: ...ement of the gripper jaws creates low voltages as a result of static charging These charges cannot be dissipated if the product is mounted on an insulating surface and if discharge is also not possibl...

Page 21: ...responding signal is at a high level After a high level is detected the gripper movement occurs until the gripping process ends It is important to ensure that after a gripper movement has taken place...

Page 22: ...display lights up green 8 1 3 Teaching in the end positions INFORMATION If necessary end positions set at the factory can be re set via an automatic traversing routine The following work steps must b...

Page 23: ...t Eingang Ausgang Name Data type StatusWord UINT16 Diagnosis UINT16 ActualPosition UINT16 When the hardware configuration is complete and the IO Link connection to the product is established some data...

Page 24: ...a cycle time of 5 ms 8 3 Handshake data transfer method All process data that is transferred to the product and is described in the sections that follow must be transferred using the Handshake INFORMA...

Page 25: ...Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Byte 1 ErrorReset MoveToWork MoveToBase Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 2 Adjust Teach ResetDirec tionFlag WritePDU DataTransfer Bit 0 DataTransf...

Page 26: ...t can be used to execute a readjustment of the end positions of the jaw Bit 8 MoveToBase Setting this bit tells the product to move toward the BasePosition Bit 9 MoveToWork Setting this bit tells the...

Page 27: ...1 2 and 3 are also available Input Mode Description 1 Universal mode Inside and outside gripping both movements at the same speed 2 Outside gripping Inward with the desired gripping force and speed ou...

Page 28: ...Save recipe and Load recipe At a value 0 the corresponding workpiece recipe is loaded in the product Name WorkpieceNo Data format UINT8 Permission Write Transfer Cyclical Value range 0 to 32 8 4 4 Pos...

Page 29: ...vice if you have any questions Name GripForce Data format UINT8 Permission Write Transfer Cyclical Value range 1 Stage 1 2 Stage 2 3 Stage 3 4 Stage 4 5 Stage 5 8 4 6 TeachPosition parameter TeachPosi...

Page 30: ...ul data transfer which is initiated with the ControlWord 1 DataTransfer Active once the product has taken over the data using the parameter ControlWord 1 DEC Bit 13 ControlWord 0x100 Active if the las...

Page 31: ...jaws relative to the full stroke The value is specified with a resolution of 0 01 mm The values can vary between the BasePosition minimum values and the WorkPosition maximum values With the position m...

Page 32: ...ected PIN 4 IO Link must also be disconnected 8 6 Easy Startup From switching on the product to the initial movement The product is to be connected in accordance with its assignment diagram The produc...

Page 33: ...rolWord 1 Sends the DataTransfer bit in the ControlWord for initialization iStep 20 Jump to the next step END_IF 20 IF StatusWord 12 THEN Queries the DataTransferOK bit in the StatusWord ControlWord 0...

Page 34: ...the product answers with Statusbit 13 AND 14 FALSE A schematic program example for multiple movements in the same direction is shown in the following Multiple movement in one direction in Structured...

Page 35: ...1 Begins with the Handshake iStep 30 Jump to the next step 30 IF StatusWord 12 THEN Queries the bit DataTransferOK TRUE from the StatusWord this is the response of the product to transmitted data Cont...

Page 36: ...tep OF 10 WorkpieceNo 3 Third workpiece recipe is to be loaded iStep 20 Jump to the next step 20 ControlWord 1 Begins with the Handshake iStep 30 Jump to the next step 30 IF StatusWord 12 THEN Queries...

Page 37: ...tructure for GEP5000IO GED5000IO Rest Betriebsdauer nicht belegt TeachPosition Position Greifer Modus TeachPosition Breite Krafteinstellung Hauptmen set 3 Sek set set 3 Sek Rest Betriebsdauer auf 30 M...

Page 38: ...n a range from 1 to 5 using the arrow keys Save the value Press SET The value is saved The gripper returns to the menu display The menu display LEDs will flash You can scroll through the individual me...

Page 39: ...a manner that is easy on both the electronics and the mechanical components CAUTION The gripper cannot move to a fixed limit stop e g a workpiece during a fast backward movement because it would be s...

Page 40: ...ase visit our website Please contact Zimmer Customer Service if you have any questions 9 4 4 Menu 4 Teach area Position GEP5006 GED5006 GEP5008 GED5008 GEP5010 GED5010 Position teach area Offset mm Of...

Page 41: ...ControlWord is implausible Multiple bits are set in ControlWord Only one bit is permitted to be active in ControlWord 0x301 The configured TeachPosition is outside the permitted range Incorrect value...

Page 42: ...hake ControlWord 0x1 0x030D GripForce not transferred Process data sent by the master has been changed Confirm the newly transferred process data with a Handshake ControlWord 0x1 0x030F TeachTolerance...

Page 43: ...the gripper s freedom of movement Zimmer Customer Service 1 5 Motor has excess current in idle mode Internal error Zimmer Customer Service 1 5 Temperature of the motor output stage above the limit va...

Page 44: ...s freedom of movement Zimmer Customer Service 1 5 DIR signal 1 Nevertheless the gripper does not reach WorkPosition or TeachPo sition Gripper is difficult to move Travel path of the gripper is impeded...

Page 45: ...er Service if you have any questions Index Name Data format Access right Values Description 0x64 100 Firmware application STRING Read 1 to 64 Current firmware of the application controller 0x41 65 Dia...

Page 46: ...aster Even though the product is maintenance free as mentioned above perform a regular visual inspection to check for any corrosion damage or contamination We recommend allowing maintenance and seal r...

Page 47: ...ing and after transport check all power and communication connections as well as all mechanical connections Observe the following points when storing the product for longer periods of time Keep the st...

Page 48: ...rket Michael Hoch Rheinau Germany 2020 11 15 Authorized representative for compiling the relevant technical documents Place and date of issuance Martin Zimmer Legally binding signature Managing Partne...

Page 49: ...ty of machinery General principles for design Risk assessment and risk reduction DIN EN 60204 1 Safety of machinery Electrical equipment of machines part 1 DIN EN ISO 13849 1 Safety of machinery Safet...

Page 50: ...o the requirements of the Electromagnetic Compatibility Directive 2014 30 EU in their design and the version we put on the market The following harmonized standards have been used DIN EN ISO 12100 201...

Page 51: ...GmbH Am Glockenloch 2 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com 51 INSTALLATION AND OPERATING IN STRUCTIONS GEP5000 GED5000 electric gripper series EN 05 01 2021 DDOC0...

Page 52: ...GmbH Am Glockenloch 2 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com 52 INSTALLATION AND OPERATING IN STRUCTIONS GEP5000 GED5000 electric gripper series EN 05 01 2021 DDOC0...