Zimmer GEH6000IL Series Installation And Operating Instructions Manual Download Page 1

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INSTALLATION AND

OPERATING

INSTRUCTIONS

2-jaw parallel gripper, electric

GEH6000IL series

3-jaw concentric gripper, electric

GED6000IL series

DDOC00212

THE KNOW-HOW FACTORY

www.zimmer-group.com

Summary of Contents for GEH6000IL Series

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

Page 2: ...ctions ShiftPosition ShiftPosition is a switching position between pre positioning and gripper movement StatusWord In its bits returns the most important information about the status of the product to the control system Teach Adjust Programming Adjusting With 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 ...

Page 3: ...rgy supply 14 10 3 1 Installing the wiring 15 10 3 2 Installing the wiring with additional STO connection 15 10 4 Wiring 15 10 5 Static charge 16 10 6 Heat dissipation 16 10 7 Installing accessories 16 11 Commissioning 17 11 1 Process data 17 11 2 IODD Import 18 11 3 Handshake Data Transfer Method 18 11 4 Parameters 19 11 4 1 ControlWord 19 11 4 2 DeviceMode 20 11 4 3 WorkpieceNo 22 11 4 4 Positio...

Page 4: ...art Basic Parameters 51 11 14 Starting the gripping movement 52 11 15 Repeated movements in the same direction 52 11 16 Recipe examples 53 11 16 1 Save recipe 53 11 16 2 Loading a recipe 54 12 Operation 55 12 1 Emergency release of GED6000IL 55 12 2 Emergency release of GED6000IL 56 13 Gripping force charts 56 14 Error diagnosis 57 15 Table with acyclic data ISDU 59 16 Maintenance 64 17 Decommissi...

Page 5: ...se dangers Ö The warning symbols are assigned according to the type of danger WARNING This notice warns of a situation that is potentially hazardous to personal health Ignoring these notices can cause serious injury or damage to health You absolutely must comply with the described measures for avoiding these dangers Ö The warning symbols are assigned according to the type of danger CAUTION This no...

Page 6: ...product such as those in the following examples require the written permission of the manufacturer Use of the product under extreme conditions such as aggressive fluids or abrasive dusts Additional drilled holes or threads Ö Zimmer GmbH shall accept no liability for any damage caused by improper use The operator bears sole responsibility Make sure that the power supply is disconnected before you m...

Page 7: ... a 24 V DC power supply The product must always be mounted on materials that dissipate heat The product is intended for industrial use The product is to be used as intended in enclosed rooms for temporary gripping handling and holding The product is not suitable for clamping workpieces during a machining process Direct contact with perishable goods food is not permitted Observance of the technical...

Page 8: ...tion can lead to malfunction 5 1 Possible applications Outside gripping Inside gripping The product can be used for outside gripping The product can be used for inside gripping MoveToWork command MoveToBase command 5 2 Forces and torques INFORMATION You can find the information in the technical data sheet on our website Please contact Zimmer Customer Service if you have any questions 5 3 Type plat...

Page 9: ...e movements Despite its small installation space the product is suited for gripping a wide range of form fit and frictional fit parts The product can be easily integrated into the existing control system The gripping force can be adapted optimally to the workpiece conditions via IO Link 1 Rack and pinion gear 2 Power supply 3 Removable centering sleeve 4 T slot guide 5 Helical worm gear 6 Drive GE...

Page 10: ...eries Please contact Zimmer Customer Service if you have any questions 6 4 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 of power supply loss or failure e g an emergency stop Note that the self locking mechanism is not available for the products GEH6040IL 31B and GEP6060IL 31B INSTALLATIO...

Page 11: ...torage of the product must be done only with the original packaging If the product has already been installed on the superordinate machine unit care must be taken during transport to ensure that no unexpected movements can occur Before commissioning the product and after transport check all power and communication connections as well as all mechanical connections If the product is stored for an ex...

Page 12: ...ualified 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 Cleanliness of the mounting surfaces of the product ...

Page 13: ...o Centering Disc 10 2 Installing GED6000IL The product can be installed from multiple sides bn bo Insert the straight pins or the centering sleeves into the provided fits on the product The type of positioning varies within the series Use the centering sleeves or straight pins to position the product on the mounting piece Mount the product on the mounting piece using the appropriate mounting screw...

Page 14: ...m bending radius of 10 x the outer diameter This bending radius must not be undershot Freely suspended cables must be secured to prevent excessive motion loads or pinching The contacts of the energy supply must be dry clean and undamaged at all times Ö Damage to the contacts can result in malfunction of the product Connect the power supply cable to the control system of the product INSTALLATION AN...

Page 15: ... from external safety switch device Carry out the listed steps for wiring the product to the IO Link Wire the product to the STO line Connect the STO 1 and STO 2 signals at the same time using the identical voltage level 0 V or 24 V Ö Failure to observe this will result in the product switching to a safe state and signaling 0x0100 at the diagnostics Ö The product cannot be moved any more without a...

Page 16: ...tion point 10 6 Heat dissipation In the event of high ambient temperatures the product must be installed on heat dissipating materials If the product is operated under very high ambient temperatures and with fast clock cycles on an ongoing basis this might reduce its service life INFORMATION Ö The cycle time must therefore be reduced as the temperature increases 10 7 Installing accessories NOTICE ...

Page 17: ...WorkpieceNo UINT8 Reserve UINT8 PositionTolerance UINT8 GripForce UINT8 DriveVelocity UINT8 BasePosition UINT16 ShiftPosition UINT16 TeachPosition UINT16 WorkPosition UINT16 Control system Gripper Input Output Name Data type StatusWord UINT16 Diagnosis UINT16 ActualPosition UINT16 INSTALLATION AND OPERATING INSTRUCTIONS GEH6000IL GED6000IL DDOC00212 p EN 2022 05 01 Zimmer GmbH Im Salmenkopf 5 7786...

Page 18: ...cond byte Apply a byte swap refer to the StatusWord section INFORMATION The product is controlled via IO Link by means of the cyclical process data as well as the acyclic service data with a cycle time of 10 ms It is mandatory to verify the process data 11 3 Handshake Data Transfer Method The handshake method makes it possible to transfer the process data about the product All process data describ...

Page 19: ... 0 or the data stored in the workpiece data WorkpieceNo 1 to 32 as the active data set Setting this bit tells the product that the direction flag needs to be reset This function is available starting from Application Firmware Version SWA000059_000 see Chapter Table of acyclic data ISDU Index 0x0017 Bit 1 WritePDU Setting this bit tells the product that it should write the current process data to t...

Page 20: ...product stops 11 4 2 DeviceMode The DeviceMode parameter can be used to control the movement of the product and the adaptation to the workpiece For this purpose various basic modes and movement profiles are available Name DeviceMode Data format UINT8 Permission Write Transfer Cyclical Value range 0 255 INFORMATION Note that different operating modes are available depending on the product see secti...

Page 21: ...ed on and the output stage is activated The movement is started after a move command is issued 5 Switch off the motor control The motor control is switched off and the output stage is activated All movements of the product are stopped 11 Jog operation Product is in jog mode and moves slowly in the selected direction as long as the respective bit is active in the ControlWord Revoking the move comma...

Page 22: ...e Transfer Cyclical Value range 0 32 11 4 4 PositionTolerance Used to configure the position tolerance with a resolution of 0 01 mm Thus the value range of 0 to 255 can be used to set a maximum tolerance of 2 55 mm in both directions INFORMATION Example For TeachPosition 1500 15 00 mm PositionTolerance 150 lets you configure a tolerance of 1 50 mm in both directions This means that the TeachPositi...

Page 23: ...rmines the movement speed to the switching position The positioning speed is specified as a percentage value 1 to 100 The product converts this information to its maximum movement speed INFORMATION Example To set a movement speed of 75 a value of 75 DriveVelocity 75 must be transmitted Name DriveVelocity Data format UINT8 Permission Write Transfer Cyclical Value range 1 100 11 4 7 BasePosition The...

Page 24: ...n Data format UINT16 Permission Write Transfer Cyclical Value range 0 75 to max jaw stroke of the product 0 75 mm 11 4 10 WorkPosition The WorkPosition defines the maximum travel path of the product and has to be greater than the ShiftPosition If the current position of the product is within the tolerance range of the WorkPosition bit 10 is set in the status In the PositionProfile this position is...

Page 25: ...it becomes TRUE when the motor is switched on Bit 2 InMotion This bit is active during the run Bit 3 MovementComplete This bit is active after the movement is complete Bit 4 JogBaseActive Confirmation 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 Active as soon as the product has boote...

Page 26: ...ite Transfer Cyclical Value range 0 65535 11 4 13 ActualPosition ActualPosition corresponds to the current position of the gripper jaws relative to the full stroke The value is specified with a resolution of 0 01 mm The values can move between the BasePosition minimum values and the WorkPosition maximum values With the position measuring system it is possible to achieve a position accuracy of 0 05...

Page 27: ...ly is disconnected the C Q signal IO Link must be disconnected as well 11 6 Minimum travel path The product requires a certain minimum travel path to generate the full gripping force when moving to the desired position Design size Minimum travel path per gripper jaw mm GEH6040IL 03 B 3 GEH6040IL 31 B 3 GEH6060IL 03 B 3 GEH6060IL 31 B 3 GEH6140IL 03 B 1 GEH6180IL 03 B 1 GED6040IL 03 A 4 GED6040IL 3...

Page 28: ...ee DeviceMode 10 section 14 Outside homing to the internal end stop of the product see DeviceMode 14 section 16 Special outside homing to the external end stop see DeviceMode 16 section 17 Special inside homing to the external end stop see DeviceMode 17 section The product has reached its zero position if the gripper jaws are at the pictured position when referencing Homing DeviceMode 10 Depending...

Page 29: ...alue to the product with a handshake The motor can be switched on or off WARNING Risk of injury due to uncontrolled movements Transmitting the value might cause the product to move Always keep an adequate safety distance Do not reach into the operational range of the product Ö The gripper jaws move to the inside at low speed until they encounter the internal mechanical end stops Ö If the gripper j...

Page 30: ...product with a handshake ControlWord 1 BasePosition must not be smaller than 75 Ö The gripper jaws move to the inside until they encounter the internal mechanical end stops Ö After reaching the mechanical end stops the product accepts the value of the BasePosition for the new ActualPo sition Ö For example this would be the new ActualPosition 100 see table Ö After homing the motor is switched off S...

Page 31: ...rameters to the product with a handshake ControlWord 1 WorkPosition must not be greater than 75 Ö The gripper jaws move inward until they are stopped by an external end stop or the maximum jaw position Ö The product takes over the WorkPosition value as the new ActualPosition Ö For example this would be the new ActualPosition 4000 see table Ö After homing the motor is switched off Switch the motor ...

Page 32: ...rt loss standard 74 Force profile with stronger holding pressure for detecting part loss 75 Force profile without holding pressure for flexible elastic components 8x Pre positioning Force profiles Outside gripping 80 Pre positioning Force profile without holding pressure for energy saving gripping 81 Pre positioning Force profile high clock rate for energy saving gripping 84 Pre positioning Force ...

Page 33: ... be generated in this mode As a result friction locked gripping is not permitted in this mode DeviceMode Action ControlWord 50 Positioning to BasePosition or WorkPosition 0x0100 0x0200 51 Positioning without an unlocking operation to BasePosition or WorkPosition 0x0100 0x0200 Positioning profile 50 standard The move commands in the ControlWord trigger a movement in the corresponding direction at D...

Page 34: ... at DriveVelocity Then the product switches into positioning mode automatically The graphic shows outside gripping using mode group 60 as an example For Mode Group 70 the BasePosition and the WorkPo sition are exchanged Opening WorkPosition Speed DriveVelocity BasePosition Position mm PositionTolerance PT PT PT PT Parameter Description BasePosition Open position WorkPosition Closed position GripFo...

Page 35: ...oved automatically to the BasePosition in the PositionProfile DeviceMode Action ControlWord 6x Move toward the BasePosition to open the product 0x0100 60 Move toward the WorkPosition until this position or the workpiece is reached Shut off motor 0x0200 61 Move toward the WorkPosition until this position or the workpiece is reached Do not carry out an unlocking process 0x0200 63 Move toward the Wor...

Page 36: ...aves like force profile 63 but the motor is energized with more current This increases the holding pressure force but the heating of the gripper and the energy consumption increase Force profile 65 without holding pressure for flexible elastic components Behaves like force profile 60 but the product has a lower movement speed because the majority of the gripping force is created directly by the mo...

Page 37: ...vement starts the unlocking operation is omitted and the movement is started immediately This enables a shorter response time during the drive to the BasePosition Ensure that in the WorkPosition no external forces act on the gripper jaws Force profile 73 with holding pressure for detection of part loss Behaves like force profile 70 with the addition that in this mode the motor is energized continu...

Page 38: ...must be moved toward the standby position at DriveVelocity Then the product switches into positioning mode automatically The graphic shows outside gripping using mode group 80 as an example For Mode Group 90 the BasePosition and the WorkPo sition are exchanged Opening WorkPosition Speed DriveVelocity BasePosition Position mm PositionTolerance PT PT PT PT Parameter Description BasePosition Open pos...

Page 39: ...pressure for energy saving gripping Before the movement starts an unlocking operation is run for releasing The movement begins with the positioning to the shift position The gripper moves at the speed set in the Drive Velocity parameter Then the product starts moving toward the workpiece with GripForce If the product encounters the workpiece while moving an increase in current is detected and the ...

Page 40: ...without holding pressure for energy saving gripping Before the movement starts an unlocking operation is run for releasing The movement begins with the positioning to the shift position The gripper moves at the speed set in the Drive Velocity parameter Then the product starts moving toward the workpiece with GripForce If the product encounters the workpiece while moving an increase in current is d...

Page 41: ...e positioning Force profiles Outside gripping 82 Pre positioning Force profile without self locking mechanism 9x Pre positioning Force profiles Inside gripping 92 Pre positioning Force profile without self locking mechanism INFORMATION The GEH6000IL 31 B products exert lower gripping forces due to the increased movement speed There is no gripping force retention from a self locking mechanism The m...

Page 42: ... be generated in this mode As a result friction locked gripping is not permitted in this mode DeviceMode Action ControlWord 50 Positioning to BasePosition or WorkPosition 0x0100 0x0200 51 Positioning without an unlocking operation to BasePosition or WorkPosition 0x0100 0x0200 Positioning profile 50 standard The move commands in the ControlWord trigger a movement in the corresponding direction at D...

Page 43: ...d Opening WorkPosition Speed DriveVelocity BasePosition Position mm PositionTolerance PT PT PT PT Parameter Description BasePosition Open position WorkPosition Closed position GripForce Desired gripping force TeachPosition Expected position of the workpiece PositionTolerance Permitted tolerance for the workpiece DriveVelocity Opening speed ShiftPosition Not used Since gripping should occur in one ...

Page 44: ...sition The ControlWord 0x0100 is used to open the product The product is moved automatically to the BasePosition in the PositionProfile Mode Group 60 typically used for outside gripping DeviceMode Action ControlWord 62 Move toward the BasePosition to open the product 0x0100 62 Move toward the WorkPosition until this position or the workpiece is reached Do not carry out an unlocking process 0x0200 ...

Page 45: ...ces up to the BasePosition The ControlWord 0x0200 is used to open the product The product is moved automatically to the WorkPosition in the PositionProfile Mode Group 70 typically used for 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 Force profile 7...

Page 46: ...ng using mode group 80 as an example For Mode Group 90 the BasePosition and the WorkPo sition are exchanged Opening WorkPosition Speed DriveVelocity BasePosition Position mm PositionTolerance PT PT PT PT Parameter Description BasePosition Open position ShiftPosition Switching from positioning to gripping WorkPosition Closed position GripForce Desired gripping force TeachPosition Expected position ...

Page 47: ...is moved automatically to the BasePosition in the PositionProfile Mode Group 82 typically used for outside gripping DeviceMode Action ControlWord 82 Move toward the BasePosition to open the product 0x0100 82 Move to ShiftPosition at DriveVelocity then switch to GripForce until the WorkPo sition or the workpiece is reached 0x0200 Pre positioning force profile group 82 Standard The movement starts f...

Page 48: ... moved automatically to the WorkPosition in the PositionProfile Mode Group 92 typically used for inside gripping DeviceMode Action ControlWord 92 Move toward the WorkPosition for opening the product 0x0200 92 Move to ShiftPosition at DriveVelocity then switch to GripForce until the BasePo sition or the workpiece is reached 0x0100 Pre positioning force profile group 90 Standard The movement starts ...

Page 49: ...es the bit DataTransferOK TRUE from StatusWord Response of the product to transferred data ControlWord 0 Reset the ControlWord iStep 20 Jump to the next step END_IF 20 IF NOT StatusWord 12 THEN Voltage supply can be interrupted END_IF 11 11 Easy Startup Describes the process from switching on the product to the initial movement Connect the product according to its assignment diagram Ö The product ...

Page 50: ...As soon as the process parameter 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 transfers refer to the StatusWord section INSTALLATION AND OPERATING INSTRUCTIONS GEH6000IL GED6000IL DDOC00212 p EN 2022 05 01 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany ...

Page 51: ...StatusBit 1 THEN Query for DataTransferOK bit AND MotorON in the StatusWord ControlWord 0 Reset of the initialization iStep 20 Jump to the next step END_IF 20 IF NOT StatusWord 12 THEN Query for completion of the data transfer DataTransferOK FALSE DeviceMode 85 Loading a DeviceMode ControlWord 1 Begins with the handshake iStep 30 Jump to the next step END_IF 30 IF StatusWord 12 THEN Queries the bi...

Page 52: ...he direction flags must be reset Send the ControlWord 0x0004 to delete the direction flags Ö The direction flags are reset when the product answers with status bit 13 AND 14 FALSE Program example for repeated movements in the same direction Multiple movement in one direction in Structured Text ST In this example the motor is switched on The movement profile Transfer gripping forces and speeds The ...

Page 53: ...ndshake iStep 30 Jump to the next step 30 IF StatusWord 12 THEN Queries the bit DataTransferOK TRUE from StatusWord Response of the product to transferred data ControlWord 0 Reset the ControlWord iStep 40 Jump to the next step END_IF 40 IF NOT StatusWord 12 THEN Query for completion of the data transfer DataTransferOK FALSE ControlWord 2 Handshake is completed storage starts here via the WritePDU ...

Page 54: ...Word Response of the product to transferred 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 Do other things Handshake is completed Parameters from the third recipe have been taken over into the current process parameters END_IF END_CASE INSTALLATION AND OPERATING INSTRUCTIO...

Page 55: ...may be present CAUTION Risk of injury in case of non compliance Disconnect the actuator voltage before pressing the emergency release The product features an emergency release that can be mechanically opened with an Allen key in the event of a power failure bq br Remove the protective cap to reach the emergency release Actuate the emergency release with a corresponding Allen key Turning counterclo...

Page 56: ...move the protective cap to reach the emergency release Actuate the emergency release with a corresponding Allen key Turning counterclockwise opens the jaws toward the BasePosition Make sure that the workpiece is secured when opening the product Design size Wrench size mm GED6040IL 03 A 2 5 GED6040IL 31 A 2 0 GED6140IL 03 A 3 0 bq Protective cap br Hexagon socket INFORMATION Carry out another refer...

Page 57: ... were set in the ControlWord In the ControlWord check that only one bit is set 0x0301 Positions are not plausible Transmitted positions are not plausible Modified process data were not taken over Check the transmitted process data Apply the process data via a handshake 0x0302 GripForce is not plausible Transmitted GripForce is not plausible Modified process data were not taken over Check the trans...

Page 58: ...rt position is not permitted for the selected motion task Move to the BasePosition with DeviceMode 60 Move to the WorkPosition with DeviceMode 70 0x0402 Jam Gripper jaws are blocked Gripper jaws are tensioned incorrectly Check that the product moves freely Send a motion task in the opposite direction 0x0404 Position sensor error Fault of the integrated position sensor Reference the product with a ...

Page 59: ...or code 0x0046 70 Error counter UINT32 Read 0 4294967295 Current error counter 0x0100 256 Actual position UINT16 Read 0 to max jaw stroke of the product Reflection of the process data 0x0101 257 TeachPosition UINT16 Read 0 to max jaw stroke of the product Reflection of the process data 0x0102 258 WorkpieceNo UINT8 Read 0 32 Reflection of the process data 15 Table with acyclic data ISDU INFORMATION...

Page 60: ...0 to max jaw stroke of the product Reflection of the process data 0x010A 266 WorkPosition UINT16 Read 0 to max jaw stroke of the product Reflection of the process data 0x0120 288 NoHomingAt Startup UINT8 Read write 0 to 1 For ISDU 288 0 1 the homing bit 0 after the cold boot The product is delivered with NoHomingAtStartup 0 This setting is stored in the product When swapping out the product write ...

Page 61: ... from the factory The maximum value can be changed via ISDU Read the current settings in ISDU 289 0 The default factory value is around 90 Example 90 for GEH61XXIL 03 B Write the new values to ISDU 289 0 The values can vary between 1 and 100 Do not use any amperages that are below the preset value Ö This setting is stored in the product When swapping out the product write the values again INSTALLA...

Page 62: ...tion The product is delivered with ForceReset 0 Set ForceReset 1 to request the unlocking operation Ö This setting is stored in the product When swapping out the product write the values again The function is available starting from Application Firmware Version SWA000059_000 see Index 0x0017 INSTALLATION AND OPERATING INSTRUCTIONS GEH6000IL GED6000IL DDOC00212 p EN 2022 05 01 Zimmer GmbH Im Salmen...

Page 63: ...move command DeviceMode 6x Actual Position WorkPosition MovetoWork Ö This setting is stored in the product ForceMove 0 Move command is not executed diagnostics 0x307 ForceMove 1 Move command is executed DeviceMode 7x Actual Position BasePosition MovetoBase ForceMove 0 Move command is not executed diagnostics 0x307 ForceMove 1 Move command is executed The product is delivered with ForceMove 0 When ...

Page 64: ...ugh the product is maintenance free as mentioned above perform a regular visual inspection to check for any corrosion damage or contamination Have maintenance work be performed by Zimmer Customer Service whenever possible Ö Dismantling and reassembling the product without authorization may result in complications as special installation equipment is required in some cases Zimmer GmbH accepts no li...

Page 65: ...naging Partner 19 REACH declaration In terms of the EC Regulation 1907 2006 Name and address of the manufacturer Zimmer GmbH Im Salmenkopf 77866 Rheinau Germany 49 7844 9138 0 info zimmer group com www zimmer group com REACH stands for Registration Evaluation Authorisation and Restriction of Chemicals A full declaration of REACH can be obtained from the manufacturer due to the duty to notify in ac...

Page 66: ...clare that the specific technical documents were produced in accordance with Annex VII Part B of this Directive We undertake to provide the market supervisory bodies with electronic 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 applic...

Page 67: ...d DIN EN ISO 12100 Safety of machinery General principles for design Risk assessment and risk reduction DIN EN 61000 6 3 EMC Generic standard Emission standard for residential commercial and light in dustrial DIN EN 61000 6 2 EMC Generic standard Emission standard for industrial environments DIN EN 61000 6 4 EMC Generic standard Immunity for industrial environments A full list of applied standards...

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