Zimmer GEP2000IL-43 Series, Installation And Operating Instructions Manual

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1 Supporting documents ............................................................................................................................................................... 5
1.1 Notices and graphics in the installation and operating instructions ............................................................................................................................... 5
2 Safety notices ...............................................................................................................................................................................6
3 Proper use ....................................................................................................................................................................................7
4 Personnel qualification ................................................................................................................................................................ 7
5 Product description .....................................................................................................................................................................8
5.1 Possible applications ...........................................................................................................................................................................................................8
5.2 Forces and torques ..............................................................................................................................................................................................................8
5.3 Type plate .............................................................................................................................................................................................................................8
6 Functional description ................................................................................................................................................................. 9
6.1 LED status display .............................................................................................................................................................................................................10
6.2 Control ................................................................................................................................................................................................................................10
6.3 Verified configuration examples .......................................................................................................................................................................................10
6.4 Self-locking mechanism ....................................................................................................................................................................................................10
7 Technical data ............................................................................................................................................................................11
8 Accessories/scope of delivery .................................................................................................................................................11
9 Transportation/storage/preservation .......................................................................................................................................11
10 Installation ..................................................................................................................................................................................12
10.1 Installing the product .........................................................................................................................................................................................................13
10.2 Safe shutoff for products with IO-Link ..............................................................................................................................................................................14
10.3 Installing the energy supply ..............................................................................................................................................................................................
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10.3.1 Pin assignment .................................................................................................................................................................................................... 15
10.4 Static charge ......................................................................................................................................................................................................................16
10.5 Heat dissipation .................................................................................................................................................................................................................16
10.6 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 .........................................................................................................................................................................................................21
11.4.3 WorkpieceNo .......................................................................................................................................................................................................
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11.4.4 PositionTolerance ................................................................................................................................................................................................ 25
11.4.5 GripForce .............................................................................................................................................................................................................26
11.4.6 DriveVelocity ........................................................................................................................................................................................................26
11.4.7 BasePosition ........................................................................................................................................................................................................27
11.4.8 TeachPosition .......................................................................................................................................................................................................27
11.4.9 WorkPosition ........................................................................................................................................................................................................27
11.4.10 StatusWord ...........................................................................................................................................................................................................28
11.4.11 Diagnosis ..............................................................................................................................................................................................................30
11.4.12 ActualPosition ......................................................................................................................................................................................................30
11.5 Minimum travel path ..........................................................................................................................................................................................................31
11.6 Minimum startup path .......................................................................................................................................................................................................31
11.7 Easy Startup .......................................................................................................................................................................................................................31
11.8 Quickstart Basic Parameters ............................................................................................................................................................................................32
11.9 Starting the gripping movement .......................................................................................................................................................................................33
11.10 Repeated movements in the same direction ...................................................................................................................................................................33
11.11 Recipe examples ...............................................................................................................................................................................................................34
INSTALLATION AND OPERATING INSTRUCTIONS: GEP2000IL-03/GEP2000IL-43
DDOC01219 / c
EN / 2022-10-10
Zimmer GmbH • Im Salmenkopf 5 •

77866 Rheinau, Germany •

+49 7844 9138 0 • www.zimmer-group.com
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