Zimmer GED6000IL Series, Installation And Operating Instructions Manual

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INSTALLATION AND OPERATING INSTRUCTIONS: GEH6000IL/GED6000IL INSTALLATION AND OPERATING INSTRUCTIONS: GEH6000IL/GED6000IL
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EN / 2021-07-28
DDOC00212 / 0
EN / 2021-07-22
DDOC00212 / 0
Zimmer GmbH
•
Am Glockenloch 2
•

77866 Rheinau, Germany
•

+49 7844 9138 0
•
www.zimmer-group.com Zimmer GmbH
•
Am Glockenloch 2
•

77866 Rheinau, Germany
•

+49 7844 9138 0
•
www.zimmer-group.com
Parameter explanation (glossary)
Parameter Explanation
ActualPosition Value of the current position of the product [1/100 mm]
BasePosition Outer jaw position
Depending on the gripper profile, this can also be a work position.
ControlWord Activation of the product
Only one bit is permitted to be active in the word. The value "0" is also permitted.
DeviceMode Used to select gripping profiles as well as the additional help modes in the product.
Diagnosis If an error occurs, outputs a diagnostic code that can be compared with the error list.
DIR Direction/24 V supply line
Depending on the product, this signal is used to move the product.
Error Error
GND Abbreviation for ground connection
GripForce Setting the gripping force
Offset Correction value
PositionTolerance Tolerance range for TeachPosition, BasePosition and WorkPosition
The value of the parameter acts in both directions.
ShiftPosition Toggle position between pre-positioning and the gripping process
StatusWord In its bits, returns the most important information about the status of the product to the control
system.
Teach/Adjust Program/Configure
Using this signal, depending on the gripper type, the current position of the gripper jaws can be
taught 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 application, this can also be the standby position.
Content
1 Supporting documents ............................................................................................................................................................... 5
1.1 Notices and graphics in the installation and operating instructions ............................................................................................................................... 5
2 Safety notices ............................................................................................................................................................................... 6
3 Proper use .................................................................................................................................................................................... 6
4 Personnel qualification ................................................................................................................................................................ 6
5 Product description ..................................................................................................................................................................... 7
5.1 Possible applications ........................................................................................................................................................................................................... 7
5.2 Type plate ............................................................................................................................................................................................................................. 7
6 Functional description ................................................................................................................................................................. 8
6.1 LED display ........................................................................................................................................................................................................................... 9
6.2 Control .................................................................................................................................................................................................................................. 9
6.3 Verified configuration examples ......................................................................................................................................................................................... 9
6.4 Self-locking mechanism ...................................................................................................................................................................................................... 9
7 Technical data ............................................................................................................................................................................ 10
7.1 Forces and torques ............................................................................................................................................................................................................ 10
7.2 Electrical specifications ..................................................................................................................................................................................................... 10
7.3 Protection class .................................................................................................................................................................................................................. 10
8 Accessories/scope of delivery ................................................................................................................................................. 11
9 Transportation/storage/preservation ....................................................................................................................................... 11
10 Installation .................................................................................................................................................................................. 12
10.1 Installing GEH6000IL ......................................................................................................................................................................................................... 13
10.2 Installing GED6000IL ......................................................................................................................................................................................................... 14
10.3 Installing the energy supply .............................................................................................................................................................................................. 15
10.3.1 Installing the wiring .............................................................................................................................................................................................. 16
10.3.2 Installing the wiring with additional STO connecting cable ............................................................................................................................. 16
10.4 Static charge ...................................................................................................................................................................................................................... 17
10.5 Heat dissipation ................................................................................................................................................................................................................. 17
10.6 Installing accessories ........................................................................................................................................................................................................ 17
11 Commissioning .......................................................................................................................................................................... 18
11.1 Process data ...................................................................................................................................................................................................................... 18
11.2 IODD import ....................................................................................................................................................................................................................... 19
11.3 Handshake data transfer method ..................................................................................................................................................................................... 19
11.4 Parameters ......................................................................................................................................................................................................................... 20
11.4.1 ControlWord ......................................................................................................................................................................................................... 20
11.4.2 DeviceMode ......................................................................................................................................................................................................... 21
11.4.3 WorkpieceNo ....................................................................................................................................................................................................... 22
11.4.4 PositionTolerance ................................................................................................................................................................................................ 22
11.4.5 GripForce ............................................................................................................................................................................................................. 23
11.4.6 DriveVelocity ........................................................................................................................................................................................................ 23
11.4.7 BasePosition ........................................................................................................................................................................................................ 24
11.4.8 ShiftPosition ......................................................................................................................................................................................................... 24
11.4.9 TeachPosition ....................................................................................................................................................................................................... 24
11.4.10 WorkPosition ........................................................................................................................................................................................................ 24
11.4.11 StatusWord ........................................................................................................................................................................................................... 25
11.4.12 Diagnosis .............................................................................................................................................................................................................. 26
11.4.13 ActualPosition ...................................................................................................................................................................................................... 26
11.5 Cold boot ............................................................................................................................................................................................................................ 27
11.6 Minimum travel path .......................................................................................................................................................................................................... 27