Zimmer GEP2000IL-03, Installation And Operating Instructions Manual

Page 1: ...www zimmer group de INSTALLATION AND OPERATING INSTRUCTIONS GEP2000IL 03 2 jaw parallel gripper electric DDOC01219 THE KNOW HOW FACTORY...

Page 2: ...tolerance 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...

Page 3: ...product 12 7 3 Installing the power supply 12 7 4 Installing the power supply of GEP2000IL 03 13 7 4 1 Installing the wiring 13 7 5 Static charge 13 7 6 Heat dissipation 13 7 7 Installing accessories...

Page 4: ...ave recipe 31 8 9 Recipe examples Load recipe 32 9 Operation 33 9 1 IO Link adjustable gripping force 33 9 2 Emergency release 33 10 Error diagnosis 34 10 1 Troubleshooting display 34 11 Accessories s...

Page 5: ...nent danger to the life and health of people Ignoring these notices can lead to serious injury or even death You absolutely must comply with the described measures for avoiding these dangers The warni...

Page 6: ...iability for any damage caused by improper use The operator bears sole responsibility Installation commissioning maintenance and repairs may only be performed by qualified specialists in accordance wi...

Page 7: ...are being gripped can no longer be securely gripped and transported NOTICE To ensure that the gripper jaws do not get deformed make sure that the configuration of the gripping force and the selection...

Page 8: ...e of the motor is transmitted over a worm drive Racks and a pinion generate the movement of the gripper jaws and synchronize these movements Despite its small installation space the product is suited...

Page 9: ...nication cm Error cl cm 6 2 Electrical specifications INFORMATION For electrical specifications please refer to our website at www zimmer group com This data varies within the series depending on the...

Page 10: ...mer Service if you have any questions 6 5 Self locking mechanism INFORMATION The product has a mechanical self locking mechanism to ensure that the workpiece remains held by the product in the event o...

Page 11: ...y in the event of uncontrolled 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 u...

Page 12: ...ion the product on the designated mounting piece using the centering sleeves bl Use the mounting screws bm to secure the product onto the mounting piece Use an adapter plate as needed For information...

Page 13: ...charge NOTICE Material damage in case of non compliance Grounding the product is recommended if ESD sensitive parts come into contact with the product Grounding is also recommended in applications tha...

Page 14: ...option exists for the gripper to be controlled only by the process data transmitted in each cycle Outputs Process data from the IO Link master to the gripper Name Data type ControlWord UINT 16 Device...

Page 15: ...ystem Go to our website Select the desired product and download the corresponding zip file via Download IODD Link The zip file is required for importing into the control system INFORMATION It is manda...

Page 16: ...he following table are valid Parameters Decimal value Hexadecimal value Data transfer 1 0x1 WritePDU 2 0x2 ResetDirectionFlag 4 0x4 Teach 8 0x8 MoveToBase 256 0x100 MoveToWork 512 0x200 JogToWork 1024...

Page 17: ...iece recipes Bit 3 Teach Setting this bit tells the product to save the current position as the TeachPosition in the selected WorkpieceNo This only works if there is no 0 that is transmitted in the wo...

Page 18: ...direction of movement is Base To achieve the best gripping results the gripped workpiece should be transported further during the time of the subsequent current feed 103 Universal operation with subs...

Page 19: ...rameters Description BasePosition Open position WorkPosition Closed position GripForce Not used TeachPosition Not used PositionTolerance Not used DriveVelocity Movement speed The movement speed is con...

Page 20: ...BasePosition 1 100 mm 0 Point WorkPosition 1 100 mm TeachPosition PositionTolerance Parameters Description BasePosition Open position WorkPosition Closed position behind the workpiece GripForce Desire...

Page 21: ...Position for max position see Section Parameter WorkPosition 70 73 inside gripping BasePosition 0 Group 60 typically used for outside gripping DeviceMode Action ControlWord 63 Move toward the WorkPosi...

Page 22: ...cipe examples Store recipe and Load recipe With a value 0 the corresponding workpiece recipe is loaded in the gripper Name WorkpieceNo Data format UINT8 Permission Write Transfer Cyclical Value range...

Page 23: ...site www zimmer group com This data varies within the series depending on the specific design Please contact Zimmer Customer Service if you have any questions Name GripForce Data format UINT8 Permissi...

Page 24: ...hus the gripper can distinguish whether a correct or incorrect workpiece has been gripped Confir mation that the correct workpiece has been gripped is communicated to the control system via the Status...

Page 25: ...on during the Jog run in the direction of BasePosition Bit 5 JogWorkActive Confirmation during the Jog run in the direction of WorkPosition Bit 6 GripperPLCActive This bit is active as soon as the gri...

Page 26: ...user must check whether valid process data is being sent to the gripper Some faults are self acknowledging such as the overheating fault INFORMATION We recommend using the StatusWord to verify correc...

Page 27: ...lues With the position measuring system used it is possible to achieve a position accuracy of 0 05 mm Product BasePosition WorkPosition TeachPosition GEP2006IL 03 0 1200 0 to max 1200 GEP2010IL 03 0 2...

Page 28: ...5 mm per gripper jaw GEP2010IL 03 0 5 mm per gripper jaw GEP2013IL 03 0 5 mm per gripper jaw GEP2016IL 03 0 5 mm per gripper jaw 8 6 Easy Startup From switching on the gripper to the initial movement...

Page 29: ...next step END_IF 20 IF StatusWord 12 THEN Queries the DataTransferOK bit in the StatusWord ControlWord 0 Reset the initialization iStep 30 Jump to the next step END_IF 30 IF NOT StatusWord 12 THEN De...

Page 30: ...irection flags The direction flag is reset when the gripper answers with Statusbit 13 AND 14 FALSE A schematic program example for multiple movements in the same direction is shown in the following Mu...

Page 31: ...next step 20 ControlWord 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 gripper...

Page 32: ...SE iStep 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 Qu...

Page 33: ...pper stays constant The gripper jaws can be opened using the emergency release if the energy supply drops off Please contact Zimmer Customer Service if you have any questions 9 1 IO Link adjustable gr...

Page 34: ...ontrolWord Only one bit is permitted to be active in ControlWord 0x301 The configured TeachPosition is outside the permitted range Wrong value on the TeachPo sition Test of the TeachPosition parameter...

Page 35: ...ss data with a Handshake ControlWord 0x1 0x310 DeviceMode not applied Process data sent by the master has been changed Confirm the newly transmitted process data with a Handshake ControlWord 0x1 0x311...

Page 36: ...al replacement to be carried out by Zimmer Customer Service Dismantling and reassembling the product without authorization may result in complications as special installation equipment is required in...

Page 37: ...can be completely disassembled and disposed of Completely disconnect the product from the power supply The product can be disassembled and properly disposed of according to material groups When dispos...

Page 38: ...l 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 Partner 16 REACH...

Page 39: ...ty requirements No 1 1 2 No 1 1 3 No 1 1 5 No 1 3 2 No 1 3 4 No 1 3 7 No 1 5 3 No 1 5 4 No 1 5 8 No 1 6 4 No 1 7 1 No 1 7 4 A full list of applied standards can be obtained from the manufacturer We al...

Page 40: ...ts 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 Basic health and safety requirements...