INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, HRC-01/-02 series
3
DDOC00416 / a
EN / 2020-08-19
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
3. Proper use ............................................................................................................................................................................6
4. Personnel qualification
.......................................................................................................................................................6
5. Product description .............................................................................................................................................................6
5.1 Possible applications ........................................................................................................................................................................................6
5.2 Forces and torques ...........................................................................................................................................................................................6
5.3 Type plate .........................................................................................................................................................................................................7
5.4 Criteria for use in collaborative applications ..................................................................................................................................................7
6. Function ...............................................................................................................................................................................8
6.1 Electrical specifications
....................................................................................................................................................................................9
6.2 LED display ......................................................................................................................................................................................................10
6.3 Verified configuration
......................................................................................................................................................................................10
6.4 Protection classes ...........................................................................................................................................................................................10
6.5 Technical data .................................................................................................................................................................................................10
7. Installation ..........................................................................................................................................................................11
7.1 Safety notes .....................................................................................................................................................................................................11
7.2 General installation information .....................................................................................................................................................................11
7.3 Installing the mechanical system ..................................................................................................................................................................11
7.4 Installing the power supply .............................................................................................................................................................................12
7.4.1 Installing the wiring .........................................................................................................................................................................................12
7.4.2 Installing the “IO-Link” ....................................................................................................................................................................................13
7.5 Static charge ...................................................................................................................................................................................................13
7.6 Heat dissipation...............................................................................................................................................................................................13
7.7 Installing accessories .....................................................................................................................................................................................13
8. Commissioning ..................................................................................................................................................................14
8.1 Commissioning the IO-Link ............................................................................................................................................................................14
8.1.1 Process data ....................................................................................................................................................................................................14
8.1.2 IODD import ....................................................................................................................................................................................................15
8.2 “Handshake” data transfer method ...............................................................................................................................................................15
8.3 Parameter ........................................................................................................................................................................................................16
8.3.1 “ControlWord” parameter...............................................................................................................................................................................16
8.3.2 “DeviceMode” parameter ...............................................................................................................................................................................17
8.3.3 Movement profiles
..........................................................................................................................................................................................18
8.3.4 “WorkpieceNo” parameter .............................................................................................................................................................................21
8.3.5 “PositionTolerance” parameter ......................................................................................................................................................................21
8.3.6 “GripForce” parameter ...................................................................................................................................................................................22
8.3.7 “DriveVelocity” parameter ..............................................................................................................................................................................22
8.3.8 “BasePosition” parameter ..............................................................................................................................................................................22
8.3.9 “ShiftPosition” parameter ...............................................................................................................................................................................23
8.3.10 “TeachPosition” parameter ............................................................................................................................................................................23
8.3.11 “WorkPosition” parameter..............................................................................................................................................................................23
8.3.12 “StatusWord” parameter ................................................................................................................................................................................24
8.3.13 “Diagnosis” parameter ...................................................................................................................................................................................25
8.3.14 “ActualPosition” parameter ............................................................................................................................................................................25
8.4 “Cold boot” ......................................................................................................................................................................................................26
8.5 Minimum travel path .......................................................................................................................................................................................26
8.6 Referencing by “Homing” .............................................................................................................................................................................26
8.6.1 “DeviceMode” 10 ............................................................................................................................................................................................27
8.6.2 “DeviceMode” 14 ............................................................................................................................................................................................27
8.6.3 “DeviceMode” 16 ............................................................................................................................................................................................28
8.6.4 “DeviceMode” 17 ............................................................................................................................................................................................29
8.7 Interruption of the power supply ....................................................................................................................................................................30
