Zimmer GmbH
•
Am Glockenloch 2
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
+49 7844 9138 80
•
www.zimmer-group.com
22
INSTALLATION AND OPERATING IN-
STRUCTIONS:
GEP5000/GED5000 electric gripper series
EN / 05/01/2021
DDOC00211/i
8.1.2 Teaching in the "TeachPosition"
INFORMATION
Important for handling the gripper!
The error display lights up because the gripper is not able to reach its end position as a result of the inserted
workpiece.
Ö
The gripper is not yet aware that there is a workpiece located between the gripper fingers.
Important for handling the gripper!
The position of the workpiece has been taught in to the gripper.
The error display (
) disappears during the next gripping movement of the gripper fingers.
The following work steps must be followed for
teaching-in the gripper:
►
Bring the gripper jaws into the desired position.
Ö
For instance, by inserting a workpiece to be
gripped.
►
Close the gripper by applying a signal at the PIN
1 input.
Ö
LED, error display lights up red
►
Apply a signal at the control input (PIN 7
"Program/adjust workpiece" or "Teach/Adjust")
for 0.5 to 3.0 seconds.
Ö
LED position 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 be followed for teaching-in the new end positions:
►
A signal must be applied to the control input (PIN 7 "Program/adjust workpiece" or "Teach/Adjust") for at least
15 seconds.
Ö
The prerequisite is that the DIR signal is simultaneously set to "0".
►
After approximately 3 seconds, the traversing routine begins and is automatically completed after 5 gripping
cycles.
The end positions are confirmed by means of outputs PIN 2 ("WorkPosition") and PIN 5 ("BasePosition").
The confirmations of the end positions are also visualized via the LED display.
Ö
The end position sensing of the gripper is preset at the factory.
Important information:
NOTICE
Non-compliance may result in material damage
If the DIR signal (control input, open/close gripper) is interrupted before the end of the traversing routine, the
procedure must be repeated because the end positions have not been correctly determined.
INFORMATION
Important for handling the gripper!
The factory settings of the end positions are changed.
To restore the factory settings, the end positions must be taught in without gripper fingers and without a
workpiece!
