INSTALLATION AND OPERATING INSTRUCTIONS:
Gripper, electric, GEP5000/GED5000 series
3
DDOC0021
1 / h
EN / 2020-08-15
Zimmer GmbH
•
Im Salmenkopf 5
•
77866 Rheinau, Germany
•
+49 7844 9138 0
•
+49 7844 9138 80
•
www.zimmer-group.com
Contents
1. Supporting documents .......................................................................................................................................................5
2. Safety notes .........................................................................................................................................................................5
1. Proper use ............................................................................................................................................................................6
2. Personnel qualification
.......................................................................................................................................................6
3. Product description .............................................................................................................................................................7
3.1
Possible applications .......................................................................................................................................................................................7
3.2
Forces and torques ...........................................................................................................................................................................................7
3.3
Type plate ..........................................................................................................................................................................................................7
1. Function ...............................................................................................................................................................................8
1.1
Electrical specifications
....................................................................................................................................................................................8
1.2
LED display ........................................................................................................................................................................................................9
1.2.1 LED display for GEP/GED5000IO statuses.....................................................................................................................................................9
1.2.2 LED display for GEP/GED5000IO gripper positions ......................................................................................................................................9
1.1.1 LED display GEP/GED5000IL ........................................................................................................................................................................10
1.1
Verified configuration
......................................................................................................................................................................................10
1.2
Protection classes ...........................................................................................................................................................................................10
1.3
Technical data .................................................................................................................................................................................................10
1.4
Self locking mechanism .................................................................................................................................................................................10
1.5
Minimum travel path of the “Digital” GEP/GED5000IO and “IO-Link” GEP/GED5000IL .........................................................................10
1.5.1 Movement profile of the travel of the gripper toward the “WorkPosition” (outside gripping)
...................................................................11
1.5.2 Movement profile of the travel of the gripper toward the “BasePosition” (inside gripping)
......................................................................11
1. Installation ..........................................................................................................................................................................12
1.1
Safety notes .....................................................................................................................................................................................................12
1.2
Installing the mechanical system ...................................................................................................................................................................12
1.2.1 Installing the GEP5000 ..................................................................................................................................................................................12
1.2.2 Installing the GED5000 ..................................................................................................................................................................................13
1.3
Installing the electrical system .......................................................................................................................................................................13
1.3.1 Installing the wiring .........................................................................................................................................................................................13
1.1.1 Installing the GEP/GED5000IL “IO-Link” ......................................................................................................................................................14
1.1.2 Installing the GEP/GED5000IO “Digital” .......................................................................................................................................................14
1.1
Static charging ................................................................................................................................................................................................16
1.2
Heat dissipation...............................................................................................................................................................................................16
1.3
Installing accessories .....................................................................................................................................................................................16
1. Commissioning ..................................................................................................................................................................17
1.1
Commissioning the GEP/GED5000IO “Digital” ...........................................................................................................................................17
1.1.1 “Digital” switching sequence .........................................................................................................................................................................17
1.1.1 Teaching-in the "TeachPosition" ....................................................................................................................................................................18
1.1.2 Teaching-in the end positions ........................................................................................................................................................................18
1.1
Commissioning the GEP/GED5000IL “IO-Link” ...........................................................................................................................................19
1.1.1 Process data ....................................................................................................................................................................................................19
1.1.1 IODD import ....................................................................................................................................................................................................20
1.1
"Handshake" data transfer method ................................................................................................................................................................20
1.2 Parameter ........................................................................................................................................................................................................21
1.2.1 "ControlWord" parameter ...............................................................................................................................................................................21
1.1.1 "DeviceMode" parameter................................................................................................................................................................................22
1.1.2 "WorkpieceNo" parameter ..............................................................................................................................................................................22
1.1.3 "PositionTolerance" parameter .......................................................................................................................................................................23
1.1.4 “GripForce” parameter ...................................................................................................................................................................................23
1.1.1 "TeachPosition" parameter .............................................................................................................................................................................24
1.1.2 "StatusWord" parameter .................................................................................................................................................................................24
1.1.1 “ActualPosition” parameter ............................................................................................................................................................................26
1.1
"Cold boot" ......................................................................................................................................................................................................26
1.2
“Easy Startup” .................................................................................................................................................................................................26
