Zimmer GED6000IL Series, Installation And Operating Instructions Manual

Page 1: ...www zimmer group com INSTALLATION AND OPERATING INSTRUCTIONS GEH6000IL series 2 jaw parallel gripper GED6000IL series 3 jaw concentric gripper electric DDOC00212 THE KNOW HOW FACTORY ...

Page 2: ...ht in as the new workpiece position Adjust is used to define the reachable end positions of the gripper jaws TeachPosition Actual workpiece position Travel routing Defined procedure for movement of the gripper jaws Travel path Path on which the gripper jaws travel WorkpieceNo Selection of the workpiece recipes stored in the product WorkPosition Inner jaw position at the product Depending on the ap...

Page 3: ...ding these dangers Ö The warning symbols are assigned according to the type of danger CAUTION This notice warns of a situation that is potentially hazardous for people or that may result in material or environ mental damage Ignoring these notices may result in slight temporary injuries or damage to the product or to the environment You absolutely must comply with the described measures for avoidin...

Page 4: ...l state with its original accessories with no unauthorized changes and within the stipulated parameter limits and operating conditions Any other or secondary use is deemed improper Operate the product only in compliance with the associated installation and operating instructions Operate the product only when it is in a technical condition that corresponds to the guaranteed parameters and operating...

Page 5: ...ing force can be adapted optimally to the workpiece via IO Link 1 Power supply 2 Rack and pinion gear 3 Mounting and positioning 4 Removable centering sleeve 5 Precise T slot guide 6 Helical worm gear 7 Robust lightweight housing 8 Drive Cutaway view of the GEH6000IL series Cutaway view of the GED6000IL series 6 1 LED display bl TeachPosition bm Error bn Power supply on bo WorkPosition bp BasePosi...

Page 6: ...54 in all mounted positions of installation 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 The accessories from Zimmer GmbH are specifically tailored to the individual products For information on optional accessories and those included in the scope of delivery refer to our website 9 Tran...

Page 7: ...TE Installation may only be carried out by qualified personnel in accordance with these installation and operating instructions Switch off the power supply before any assembly installation or maintenance work Install the product on an appropriate mounting surface in accordance with the flatness specifications INFORMATION Requirements for the mounting surface Permissible unevenness 0 03 mm Further ...

Page 8: ... pin or centering sleeve to position the product on the provided mounting piece Use the mounting screws to secure the product on the mounting piece bq br 3 br 3 Fit bq Centering sleeve br Mounting screw 10 3 Installing the energy supply CAUTION Destruction of the product In the event that the polarity of the product is reversed the product may be destroyed as a result of the duration of current of...

Page 9: ...product switches to a safe state and signals 0x0100 at the diagnostics Ö The product cannot be moved any more without a cold boot because a fatal error is present 10 3 2 1 Wiring If the two STO signals have the status of FALSE 0 V the STO circuit in the product is interrupted and the product is in a safe state To move the product again set both STO signals to the status of TRUE 24 V Ö The diagnost...

Page 10: ...established data will be displayed in the process input data Ö Some control systems demand a byte swap to bring this process data into a logical sequence Look at bit 6 GripperPLCActive in the StatusWord to determine whether a byte swap is necessary Determine whether bit 6 is active in the first or second byte of the StatusWord Ö Bit 6 is active in the first byte The bytes already have the correct ...

Page 11: ...e direction flag needs to be reset Bit 1 WritePDU Setting this bit tells the product that it should write the current process data to the selected workpiece recipe Bit 2 ResetDirectionFlag Setting this bit tells the product that the direction flag needs to be reset This makes a repeated movement to a position possible This is logical during a switchover of workpiece recipes Bit 3 Teach Setting thi...

Page 12: ...ons This means that the TeachPosition range starts at 13 50 mm and goes all the way up to 16 50 mm Position TeachPosition PositionTolerance Name PositionTolerance Data format UINT8 Permission Write Transfer Cyclical Value range 0 to 255 11 4 5 GripForce The product can use various gripping forces for an optimized process sequence The gripping force is indicated as a percent from the minimum to the...

Page 13: ... 0 75 mm 11 4 10 WorkPosition The WorkPosition defines the closed target position of the product and has to be greater than the ShiftPosition If the current position of the product within the tolerance window is around the WorkPosition bit 10 is set in the StatusWord The product can be moved past the WorkPosition when a move command is run This is a maximum of 2 mm depending on the movement speed ...

Page 14: ...s can move between the BasePosition minimum value and the WorkPosition maximum value With the installed position measuring system it is possible to achieve a position accuracy of 0 05 mm Name ActualPosition Data format UINT16 Permission Read Transfer Cyclical Value range 0 to max jaw stroke of the product INFORMATION Use the StatusWord of the product to check whether a workpiece has been gripped c...

Page 15: ...reset Triggers a reset of the motor controller 3 Switch on the motor control This switches on the motor control and activates the output stage This does not trigger any movement yet The movement of the motor is not started until a move command is sent 5 Switch off motor control stop movement This switches off the motor control The output stage is deactivated and any movements are stopped 11 Jog mo...

Page 16: ... Ö The motor is switched on INFORMATION For products without a self locking mechanism those with 31 in the part number the position can also take on a value higher than 0 after homing 11 11 DeviceMode 16 WARNING Risk of injury due to increased force of the product during homing The product force during the reference run is very high with the new DeviceMode Make sure that an external end stop is in...

Page 17: ...osisWord 0x0000 Ö The product is ready WARNING Product jamming and damage Since the ActualPosition in this DeviceMode has an offset the product does not know the position of the internal end stop 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 11 13 Operation modes movement profiles GEH6000IL 03 B GED6000IL 03 B ...

Page 18: ...0 Positioning profiles DeviceMode Action ControlWord 50 Position to BasePosition or WorkPosition 0x0100 0x0200 51 Position without an unlocking operation to BasePosition or WorkPosition 0x0100 0x0200 11 13 3 Force profiles The following modes can be used for force fit gripping of workpieces The gripping force is built up by the movement speed of the gripper jaws and the motor current To do this th...

Page 19: ...e detected by sensing the WorkPosition otherwise the TeachPosition bit is TRUE Ö This mode is the recommended standard operating mode 65 Force profile without holding pressure for flexible elastic components Behaves like mode 60 but the product has a lower movement speed because the majority of the gripping force is created directly by the motor current However it is no longer possible to generate...

Page 20: ...o Move toward the BasePosition until this position or the workpiece is reached and detect part loss 0x0100 75 Move toward the BasePosition until this position or the workpiece is reached Mode for elastic components 0x0100 11 13 4 Pre positioning Force profiles The following modes can be used for force fit gripping of workpieces The gripping force is built up by the movement speed of the gripper ja...

Page 21: ...an unlocking operation at DriveVelocity towards the WorkPosition up to the ShiftPosition and then with GripForce until the workpiece or the WorkPo sition is reached 0x0200 85 Move toward the WorkPosition until this position or the workpiece is reached and detect part loss 0x0200 11 13 4 2 Group 90 Pre positioning Force profiles Inside gripping In movement profile group 90 the product moves in the ...

Page 22: ...ripping force the motor is energized continuously during gripping If the workpiece gets lost during gripping the gripping movement is continued to the target position 11 14 3 Positioning profiles The following modes can be used for positioning the product or for form fit gripping The movement speed is configured using the DriveVelocity parameter The TeachPosition and ShiftPosition parameters do no...

Page 23: ...used automatically in the opposite direction To do this the product switches into positioning mode automatically when moving in the opening direction The movement profile determines the direction in which the workpiece is gripped For outside gripping the movement profile group 60 is used For inside gripping the movement profile group 70 is used 11 14 4 1 Group 60 Force profile outside gripping In ...

Page 24: ...he configured gripping force is built up and maintained by the motor current Group 70 Inside gripping DeviceMode Action ControlWord 72 Move toward the WorkPosition for opening the product 0x0200 72 Move toward the BasePosition until this position or the workpiece is reached 0x0100 11 14 5 Pre positioning Force profiles The following modes can be used for force fit gripping of workpieces The grippi...

Page 25: ... workpiece If the product encounters the workpiece while moving an increase in current is detected and the configured gripping force is built up When the workpiece is gripped the configured gripping force is built up and maintained by the motor current Group 82 Outside gripping DeviceMode Action ControlWord 82 Move toward the BasePosition for opening the product 0x0100 82 Move at DriveVelocity to ...

Page 26: ...ameter has been transmitted to the product the product will report this back in the StatusWord with the DataTransferOK bit Ö The product is ready to operate INFORMATION For information about data transfer and possible parameters refer to the Parameters section 11 18 Quickstart basic parameters INFORMATION The following example code applies to products with 03 in the part number For products with 3...

Page 27: ...Handshake is started Bit DataTransfer TRUE in the ControlWord iStep 20 Jump to the next step END_IF 20 IF StatusBit 12 THEN Queries the bit DataTransferOK TRUE from StatusWord is the response of the product to transmitted data ControlWord 0 Reset of the ControlWord iStep 30 Jump to the next step END_IF 30 IF NOT StatusWord 12 THEN Query for completion of the data transfer DataTransferOK FALSE Cont...

Page 28: ...n be opened manually using the emergency release if the energy supply drops off or there is a mechanical jam Please contact Zimmer Customer Service if you have any questions 12 1 Emergency release of GEH6000IL CAUTION Risk of injury due to uncontrolled movement Risk of injury in the event of uncontrolled movement of the product when the power supply is connected Switch off the power supply to the ...

Page 29: ...troller is switched off Motor controller has not yet been activated Motor controller has been switched off Motor controller was switched off for device protection Switch on the motor controller 0x0100 Actuator power supply is not present or is too low Actuator power supply is not connected Actuator power supply is not sufficient Cable break STO input circuit is interrupted Check the actuator power...

Page 30: ...vice 0x040D Internal error Internal error Please contact Zimmer Customer Service 0x040E Internal error Internal error Please contact Zimmer Customer Service 0x040F Internal error Internal error Please contact Zimmer Customer Service 15 Table with acyclic data ISDU INFORMATION IO Link distinguishes between cyclical process data PDU and acyclic data ISDU Access to acyclic data is not arranged very c...

Page 31: ...erly according to the material groups Comply with the locally applicable environmental and disposal regulations RoHS declaration In terms of the EU Directive 2011 65 EU Name and address of the manufacturer Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 www zimmer group com We hereby declare that the incomplete machine described below Product designation 2 jaw parallel gripper 3 j...

Page 32: ...c versions of special documents for the incomplete machine through our documentation department should they have reason to request them The incomplete machine may only be commissioned if it has been ascertained if applicable that the machine or system in which the incomplete machine is to be installed satisfies the requirements of Directive 2006 42 EC on Machinery and an EC Declaration of Conformi...

Page 33: ...INSTALLATION AND OPERATING INSTRUCTIONS GEH6000IL GED6000IL 64 EN 2021 07 28 DDOC00212 0 Zimmer GmbH Am Glockenloch 2 77866 Rheinau Germany 49 7844 9138 0 www zimmer group com ...