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DDOC00247

enu / 2018-09-14 / Index a

INSTALLATION AND OPERATING INSTRUCTIONS: 

Pneumatic gripper, intelligent GPP/GPD5000IL series

Zimmer GmbH 

 Im Salmenkopf 5 

 77866 Rheinau, Germany 

 Phone: +49 7844 9138-0 

●  

Fax: +49 7844 9138-80 

 www.zimmer-group.de

1. Supporting documents

   Catalog

  Drawings, performance data, information about accessory parts, etc.

  General terms and conditions, including warranty information

  

Note:

  

 

 

The following documents are available for download on our website. 

 

 

Only the documents currently available on the website are valid.

  

Note:

 

 

 

The gripper should only be used in its original state with its original accessories, without any unauthorized 

 

 

changes and within the scope of its defined parameters for use. 

 

 

Zimmer GmbH shall accept no liability for any damage caused by improper use.

2. Proper use

3. Personnel qualifications

Installation, commissioning and operation may be undertaken by trained specialists only. They must have read and understood the 

installation and operating instructions in full.

3

The gripper is designed exclusively for operation using a 24 V DC power supply.

The operating pressure is in the range of 3-8 bar for standard grippers and 4-7 bar for the respective NC/NO versions.

The gripper is used as defined under "Proper use" in enclosed rooms to temporarily grip, handle and hold parts.

The gripper is not suitable for clamping workpieces during a machining process.

Direct contact with perishable goods/food is not permitted.

 

1.    Installation, commissioning, maintenance and repairs may only be performed by qualified experts in accordance with 

these installation and operating instructions.

 

2.    The gripper is state-of-the-art. It is fitted to industrial machines and is used to hold workpieces. The following are ex

-

amples of situations in which the gripper may cause a hazard: 

- the gripper is not properly fitted, used or maintained

 

      

 

 - the gripper is not used for its intended purpose

 

     

 

 -  failure to observe the local regulations (legislation, guidelines, directives), such as the EC Machinery 

Directive,

 

       

 

 -  the Accident Prevention Regulations (UVV) and the assembly and operating instructions

 

      are not observed.

 

3.   The gripper may be used only in accordance with its proper use and technical data. 

 

      ZIMMER GmbH shall accept no liability for any damage caused by improper use.

 

4.    Any use other than the proper use requires written approval from Zimmer GmbH

 

5.    Make sure that the energy supply is disconnected and before you install, retool, maintain or repair the gripper. 

 

6.    In case of maintenance, renovation or expansion work, remove the gripper from the machine and carry out the work 

outside the danger zone.

 

7.    When commissioning or testing, make sure that the gripper cannot be actuated by mistake. 

 

8.    Modifications to the gripper, such as adding drill holes or threads, may be made only with prior approval from Zimmer 

GmbH.

 

9.    The specified maintenance intervals and compressed air quality specifications are to be observed; also refer to the 

Maintenance section. When using the gripper under extreme conditions (see Item 11), the maintenance interval must 

be adapted depending on the extent of the contamination. Please contact our hotline for this purpose.

 

10.  Use of the gripper under extreme conditions, such as aggressive liquids and abrasive dust, is subject to prior approval 

from Zimmer GmbH

 

11.  When disassembling grippers with integrated springs, exercise increased caution because 

spring tension is always 

present

.

4.  Safety notes

Summary of Contents for GPD5000IL Series

Page 1: ...NG INSTRUCTIONS Handling technology GPP GPD5000IL series The Hybrid THE KNOW HOW FACTORY Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany Phone 49 7844 9138 0 Fax 49 7844 9138 80 www zimmer group de...

Page 2: ...5 5 TeachPosition parameter 12 7 5 6 PositionTolerance parameter 12 7 5 7 StatusWord parameter 13 7 5 8 Diagnosis parameter 13 7 5 9 ActualPosition parameter 14 7 6 Sensing of end positions 14 7 7 Se...

Page 3: ...The gripper is state of the art It is fitted to industrial machines and is used to hold workpieces The following are ex amples of situations in which the gripper may cause a hazard the gripper is not...

Page 4: ...description Alternating ventilation moves the internal pneumatic piston 1 up and down The power generated in this process is transferred 2 to the gripper jaws 3 via a kinematic system to produce the...

Page 5: ...ntering sleeves alignment pins Secure the gripper with cylinder screws of strength class 8 8 Connect the M12 5 pin supply cable for the IO Link Port Class B 5 NO NC 5 2 GPD5000IL function NO NC The gr...

Page 6: ...mended if parts sensitive to electrostatic discharge come into contact with the gripper Before installing the gripper fingers make sure they are of a suitable length for the selected gripper variant T...

Page 7: ...lf on intermediate values Each move ment command is executed to the maximum possible position When the hardware configuration is complete and the IO Link connection to the gripper is established some...

Page 8: ...ords gripping force and TeachPosition are devalued The WorkpieceNo parameter is to be recognized as being a selector switch 7 3 LED display The color of the LED reflects the status of the gripper Stat...

Page 9: ...data However this is possible only if a 0 is transmitted in the WorkPosition process data word Since very different gripper jaws exist for the gripper series the required travel path can be determine...

Page 10: ...it 9 Bit 8 Byte 1 Error Reset MoveToWork MoveToBase Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 Adjust Teach ResetDirectionFlag WritePDU Data transfer INFORMATION This only works if no 0 is...

Page 11: ...e TeachPosition and DeviceMode a 3 workpiece number 3 must be transmitted in the workpiece number of the process data INFORMATION For more information on the use of different data records of the param...

Page 12: ...nsmit the current desired position detection tolerance for the workpiece to the gripper Also see Section 6 3 4 This can be input in mm 100 and always functions equally well in both the direction and t...

Page 13: ...6 Permission Write Transmission Cyclical Value range 0 65535 Bit 6 This bit is active as soon as the gripper has booted up after the cold start This bit can be used to verify a byte swap Bit 8 Active...

Page 14: ...y to have its end positions sensed at the maximum potential stroke of the gripper For special gripper jaws if necessary the end positions can be reset using an automated traversing routine This means...

Page 15: ...at UINT16 Permission Read Transmission Acyclical This parameter can be used to read out the current temperature of the electronics of the gripper This parameter can be used to read out the current Con...

Page 16: ...s currently being transmitted 7 7 11 WorkpieceNo 0x102 Details Name WorkpieceNo Data format UINT8 Permission Read Transmission Acyclical This parameter can be used to read out the workpiece number of...

Page 17: ...gnostic message is output 7 7 17 Pressure hysteresis 0x113 Details Name PressureHysteresis Data format UINT8 Permission Read write Transmission Acyclical This parameter can be used to specify the hyst...

Page 18: ...ord is implausible Multiple bits are set in the ControlWord Only one bit may be active on the ControlWord 0x301 The configured teach position is outside the permitted range Wrong value on the TeachPos...

Page 19: ...ve value in the gripper 0x312 Initial status after a gripper restart After a restart a one time data takeover through ControlWord 1 must be carried out Confirming the current process data with a Hands...

Page 20: ...ance referring to the tolerance of the teach position HRC Human Robot Collaboration Status Display parameter Diagnostics Diagnostics Display parameter error number Offset Value for the subsequent corr...

Page 21: ...ssembling the gripper without authorization may result in complications as special installation equipment is required in some cases 12 Fault exclusion Inherently safe design engineering The safety fun...

Page 22: ...rements No 1 1 2 No 1 1 3 No 1 1 5 No 1 3 1 No 1 3 2 No 1 3 4 No 1 3 7 No 1 5 1 No 1 5 3 No 1 5 4 No 1 6 4 No 1 7 1 No 1 7 3 DIN EN ISO 12100 2011 03 Safety of machinery General principles for design...

Page 23: ...ompatibility Directive 2014 30 EU in their design and the version we put on the market The following harmonized standards have been used DIN EN ISO 12100 2011 03 Safety of machinery General principles...

Page 24: ...Index aINSTALLATION AND OPERATING INSTRUCTIONS Pneumatic gripper intelligent GPP GPD5000IL series Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany Phone 49 7844 9138 0 Fax 49 7844 9138 80 www zimmer...

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