Zimmer HRC-01 Series Installation And Operating Instructions Manual Download Page 37

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INSTALLATION AND OPERATING INSTRUCTIONS:

2-jaw parallel gripper, electric, HRC-01/-02 series

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

Error code

Error

Possible cause

Measure

0x0302

"GripForce" not available

• Transmitted "GripForce" is not

correct.

•

Modified process data were

not taken over.

►

Check the transmitted pro-

cess data.

►Confirm the newly transmitted

process data with a "Hand-

shake."

0x0303

"SpeedValue" not available

• Transmitted "SpeedValue" is

not correct.

•

Modified process data were

not taken over.

►

Check the transmitted pro-

cess data.

►Confirm the newly transmitted

process data with a "Hand-

shake."

0x0304

"TeachTolerance" not available

• Transmitted "TeachTolerance"

is not correct.

•

Modified process data were

not taken over.

►

Check the transmitted pro-

cess data.

►Confirm the newly transmitted

process data with a "Hand-

shake."

0x0305

Position measuring system not

referenced

• Gripper has been moved with-

out operating voltage.

• Internal error in the position

measuring system.

►

Reference the gripper by

using a "HomingCommand."

0x0306

"DeviceMode" not available

• Transmitted "DeviceMode" not

correct.

•

Modified process data were

not taken over.

►

Check the transmitted pro-

cess data.

►Confirm the newly transmitted

process data with a "Hand-

shake."

0x0307

Movement order cannot be

carried out

• Multiple errors in the same

direction.

• Move command transmitted

despite existing error.

►Reset the direction flag and

send the move command

again.

0x0308

"WorkpieceNo." not available

• Transmitted workpiece num-

ber is outside the permitted

range 0 to 32.

•

Modified process data were

not taken over.

►

Check the values of the

"WorkpieceNo." parameter

►

Apply the process data via a

"Handshake"

0x313

Calculated "ShiftPosition" ex-

ceeded

• In "force mode," transmitted

"BasePosition" is less than the

"ActualPosition"

►

Move to "Base."

0x0400

Difficulty of movement

• Gripper jaws are blocked.
• Gripper jaws are tensioned

incorrectly.

►

Check the gripper's freedom

of movement.

►

Error must be acknowledged.

0x0401

Current limit exceeded

• -

►

0x0402

Jam

• Gripper jaws are blocked.
• Gripper jaws are tensioned

incorrectly.

►

Check the gripper's freedom

of movement.

►

Error must be acknowledged.

0x0406

System/internal error

• Internal error

►

Summary of Contents for HRC-01 Series

Page 1: ...INSTALLATION AND OPERATING INSTRUC TIONS HRC 01 02 series Gripper electric DDOC00416 THE KNOW HOW FACTORY www zimmer group com ...

Page 2: ...he tolerance window for the TeachPosition BasePosition and WorkPosi tion The value of the parameter acts in both directions BasePosition The BasePosition is the outer JawPosition Depending on the gripper profile this can also be a work position ShiftPosition The ShiftPosition is a switching position between pre positioning and gripper move ment StatusWord In its bits the StatusWord returns the mos...

Page 3: ...upply 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 Workpiece...

Page 4: ...epeated movements in the same direction 32 8 13 Recipe examples 33 8 13 1 Store recipe 33 8 13 2 Load recipe 34 9 Operation 35 9 1 HRC 02 emergency release 35 10 Gripping force charts 36 11 Error diagnosis 36 12 Table with acyclic data ISDU 38 13 Maintenance 39 13 1 Maintenance interval 39 13 2 Replacing the safety fuse 40 14 Accessories scope of delivery 41 15 Transportation storage preservation ...

Page 5: ...egislation ordinances guidelines such as the EC Machinery Directive acci dent prevention regulations and the installation 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 intended use requires written approval from Zimme...

Page 6: ... 4 Personnel qualification Installation commissioning and maintenance may only be performed by specialists These personnel must have read and understood the installation and operating instructions in full 5 Product description NOTICE To ensure that the gripper jaws do not get deformed care must be taken to ensure that the configuration of the gripping force and the selection of the gripper finger ...

Page 7: ... to provide you with assistance if you have any further questions 5 4 Criteria for use in collaborative applications The criteria listed below are the basis for the suitability of the grip per for use in collaborative applications Ö Ö See adjacent illustration figure 3 and 4 The gripper has been designed in accordance with the speci fications of ISO TS 15066 The power of the motor in combination w...

Page 8: ...Brushless DC servomotor with absolute encoder system The gripper jaws run on parallel guide rails arranged side by side The gripper jaws are mechanically coupled to each other The gripper is equipped with a safety fuse that interrupts the power supply to the motor in the event of overcurrent thereby preventing the permitted gripping force of 140 N from being exceeded Fig 1 HRC 02 series gripper fr...

Page 9: ... 7844 9138 0 49 7844 9138 80 www zimmer group com Fig 3 HRC 02 gripper safety fuse 6 1 Electrical specifications INFORMATION For information on electrical specifications please visit our website This data varies within the series depending on the specific design Zimmer Customer Service is available to provide you with assistance if you have any further questions 8 bl 9 ...

Page 10: ...has a fault Flashing No IO Link connection available On continuously Gripper is in undefined position Flashing Currently not assigned 6 3 Verified configuration INFORMATION For information about the verified configuration please visit our website Zimmer Customer Service is available to provide you with assistance if you have any further questions 6 4 Protection classes NOTICE The gripper achieves ...

Page 11: ...ion The gripper must be installed on a mounting surface in accordance with the specifications for flatness Length 100 mm permitted flatness imperfection 0 02 mm Length 100 mm permitted flatness imperfection 0 05 mm Ö Ö The mounting screws and the pins are included in the scope of delivery Ö Ö Strength class of the mounting screws 8 8 DIN EN ISO 4762 Ö Ö Observe the tightening torque of the mountin...

Page 12: ...ect the supply cable to the gripper and the control system Ö Ö You can find the corresponding supply cable on our website INFORMATION The cables that are used by Zimmer GmbH feature a minimum bending radius of 10 x the outer diameter This bending radius must not be undershot All IO Link cables that are installed in the grippers have an outer diameter of 5 mm and thus have a bending radius of 50 mm...

Page 13: ...t of the gripper jaws creates low voltages as a result of static charging These charges cannot be dissipated if the gripper is installed on an insulated surface and discharge is also not possible through the work piece NOTICE Non compliance may result in property damage Grounding the gripper attachment gripper jaws is recommended if ESD sensitive parts come into con tact with the gripper Grounding...

Page 14: ... an option to control the gripper only with the process data that is transmitted in each cycle Outputs Process data from the IO Link master to the gripper Name Data type ControlWord UINT 16 DeviceMode UINT 8 Workpiece No UINT 8 Reserve UINT 8 PositionTolerance UINT 8 GripForce UINT 8 DriveVelocity UINT 8 BasePosition UINT 16 ShiftPosition UINT 16 TeachPosition UINT 16 WorkPosition UINT 16 Name Dat...

Page 15: ...n the first byte the bytes already have the correct sequence and commissioning can be continued Ö Ö If bit 6 is active in the second byte a byte swap still has to be applied here Ö Ö For further information refer to the StatusWord section INFORMATION It is mandatory to verify the process data The gripper is controlled via IO Link by means of the cyclic process data as well as the acyclic service d...

Page 16: ... 12 Bit 11 Bit 10 Bit 9 Bit 8 Byte 1 JogToBase Jog ToWork MoveToWork MoveToBase Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 Teach ResetDirec tionFlag WritePDU Datatransfer Bit 0 Datatransfer When this bit is set the gripper accepts the data transferred in the process data Bit 1 WritePDU Setting this bit communicates to the gripper that it should write the current process data to the sel...

Page 17: ...it is reset the gripper stops Bit 11 JogToBase Setting this bit in the ControlWord puts the gripper in jog mode and slowly moves toward the BasePosition If the bit is reset the gripper stops 8 3 2 DeviceMode parameter Name DeviceMode Data format UINT8 Permission Write Transfer Cyclic Value range 0 to 256 Basic commands These modes control the basic gripper actions DeviceMode Action ControlWord 0 N...

Page 18: ...nd issues an error message The gripper can be moved from the obstacle back to the starting position if the command is switched in the ControlWord No defined gripping forces can be generated in this mode As a result friction locked gripping is not permitted in this mode DeviceMode Action ControlWord 50 Move to BasePosition 0x100 50 Move to WorkPosition 0x200 51 Move to BasePosition Special movement...

Page 19: ... ControlWord command 0x100 is written in the 62 mode group then the gripper travels away from the workpiece to the BasePosition in the PositionProfile without the need for any prompts from the user Here the gripper moves at the speed set in the DriveVelocity parameter Ö Ö This procedure is reversed in the 72 mode group As such the 62 mode group is used for outside gripping and the 72 mode group fo...

Page 20: ...Ö Here the TeachPosition also defines the workpiece position with adjustable tolerance Just as in the ForceProfile the gripper moves away from the workpiece using the PositionProfile at the speed specified with the DriveVelocity parameter Group 82 typically used for outside gripping DeviceMode Action ControlWord 82 Move with v DriveVelocity to the ShiftPosition and then with Grip Force until the w...

Page 21: ...kstart basic parameters section recipe examples Ö Ö Store recipe and Load recipe Name WorkpieceNo Data format UINT8 Permission Write Transfer Cyclic Value range 0 to 32 The corresponding workpiece recipe is loaded in the gripper with a value 0 8 3 5 PositionTolerance parameter This parameter is used to configure the position tolerance with a resolution of 0 01 mm Thus the value range of 0 to 255 c...

Page 22: ...per can use different movement speeds for an optimized process flow This parameter determines the movement speed of the gripper in both directions in the PositionProfile mode In the other modes this parameter determines the movement speed from the workpiece In PrePosition ForceProfile mode it determines the movement speed to the switching position The positioning speed is specified as a percentage...

Page 23: ...around the TeachPosition bit 9 is set in the Status The size of the tolerance window is defined using the PositionTolerance parameter Name TeachPosition Data format UINT16 Permission Write Transfer Cyclic Value range 0 75 to max jaw stroke of the gripper 0 75 mm 8 3 11 WorkPosition parameter The WorkPosition defines the maximum travel path of the gripper and has to be greater than the ShiftPosi ti...

Page 24: ...Mode 10 or 14 16 or 17 decimal parameter Bit 1 MotorON This bit is enabled when the motor is switched on by the DeviceMode 3 decimal parameter The motor is automatically switched on during a Homing run DeviceMode 10 decimal 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...

Page 25: ...rror message can be determined via the Diagnosis parameter 8 3 13 Diagnosis parameter The value returned in the parameter corresponds to the error code see Troubleshooting section Name Diagnosis Data format UINT16 Permission Read Transfer Cyclic Value range 0 to 65535 8 3 14 ActualPosition parameter The parameter ActualPosition corresponds to the current position of the gripper jaws relative to th...

Page 26: ...Model Minimum travel path HRC 02 093390 3 mm HRC 02 093677 3 mm HRC 02 093695 3 mm HRC 02 101487 3 mm HRC 02 101528 3 mm HRC 02 101903 3 mm 8 6 Referencing by Homing NOTICE Before each Homing command make sure that the gripper is able to move freely and easily and that it cannot be blocked by the gripper jaws or interfering edges When blocking the reference position is set A Homing command is not ...

Page 27: ...ipper movements Gripper movement is possible as a result of the transmission of the value Ensure an adequate safety distance and do not reach into the operational range of the gripper The gripper jaws move to the outside at low speed until they encounter the internal mechanical end stops If the gripper jaws encounter resistance they stop at this spot In the process the ActualPosition parameter is ...

Page 28: ...otor is switched on Now transmit the following values Parameter Value Unit DeviceMode 16 WorkpieceNo 0 PositionTolerance 50 0 01 mm DriveVelocity 10 BasePosition 100 0 01 mm WorkPosition 4000 0 01 mm Transmit the parameter to the gripper using a Handshake Ö Ö ControlWord 1 Ö Ö The parameter BasePosition must not be smaller than 75 The gripper jaws move to the inside until they encounter the mechan...

Page 29: ...ed on Now transmit the following values Parameter Value Unit DeviceMode 17 WorkpieceNo 0 PositionTolerance 50 0 01 mm DriveVelocity 10 BasePosition 100 0 01 mm WorkPosition 4000 0 01 mm Transmit the parameter to the gripper using a Handshake Ö Ö ControlWord 1 Ö Ö The parameter WorkPosition must not be larger than the maximum stroke 75 of the gripper The gripper jaws move to the inside until they e...

Page 30: ... with its assignment plan The gripper reports the StatusWord Diagnosis and ActualPosition process parameters immediately after the internal controller has booted up Once the PLCActive bit is registered in the StatusWord the communication process can start To move the gripper the process parameters must first be transmitted The following process parameters are to be transmitted DeviceMode Workpiece...

Page 31: ... step END_IF 20 DeviceMode 3 Command to power on the motor ControlWord 1 Data transmission to the gripper iStep 30 Jump to the next step 30 If StatusBit 1 THEN Queries MotorON bit in the StatusWord iStep 40 Jump to the next step END_IF 40 DeviceMode 82 Loading a DeviceMode WorkpieceNo 0 0 means that the current process parameters are being used PositionTolerance 50 GripForce 50 DriveVelocity 50 Ba...

Page 32: ...on the location of the positions it is possible that the gripper may move multiple times in the same direction For this purpose the direction flags must be reset Sending the ControlWord 0x04 activates the deletion of the direction flags The direction flag is reset when the gripper answers with Statusbit 13 AND 14 FALSE For multiple movements in the same direction a schematic program example is sho...

Page 33: ...eachPosition 4000 WorkPosition 4000 iStep 20 Jump to the next step 20 ControlWord 1 Begins with the Handshake iStep 30 Jump to the next step 30 IF StatusWord 12 THEN Queries the bit DataTransferOK TRUE from the StatusWord this is the response of the gripper to transmitted data ControlWord 0 ControlWord reset iStep 40 Jump to the next step END_IF 40 IF NOT StatusWord 12 THEN Queries the completion ...

Page 34: ...Third workpiece recipe is to be loaded iStep 20 Jump to the next step 20 ControlWord 1 Begins with the Handshake iStep 30 Jump to the next step 30 IF StatusWord 12 THEN Queries the bit DataTransferOK TRUE from StatusWord this is the response of the gripper to transmitted data ControlWord 0 ControlWord reset iStep 40 Jump to the next step END_IF 40 IF NOT StatusWord 12 THEN Queries the completion o...

Page 35: ...d without a controller or voltage supply To find the emergency re lease remove the protective cap cn The emergency release can be actuated using the corre sponding Allen key co Ö Ö When opening the gripper fingers make sure that the workpiece in the gripper is secured Model Wrench size HRC 01 02 series 2 mm INFORMATION After an emergency release another Homing reference run must be carried out Zim...

Page 36: ... voltage is too low The actuator voltage is not present The applied voltage is too low Check the applied voltage 0x0101 Max permitted temperature exceeded Ambient temperature is too high Overload of the gripper Incorrect movement profile selected Provide sufficient ventilation cooling connection Check the ease of movement Choose the selected move ment profile 0x0102 Max permitted temperature under...

Page 37: ...r in the position measuring system Reference the gripper by using a HomingCommand 0x0306 DeviceMode not available Transmitted DeviceMode not correct Modified process data were not taken over Check the transmitted pro cess data Confirm the newly transmitted process data with a Hand shake 0x0307 Movement order cannot be carried out Multiple errors in the same direction Move command transmitted despi...

Page 38: ... 4294967295 Current numbers of cycles 0x43 67 Temperature UINT 16 Read 0 to 100 C Current temperature 0x44 68 ControlWord UINT 16 Read 0 to 65535 Reflection of the process data 0x45 69 error code STRING Read 1 to 32 Current error code 0x46 70 Error counter UINT 32 Read 0 to 4294967295 Current error counter 0x100 256 Actual position UINT 16 Read 0 to max stroke of the gripper Reflection of the proc...

Page 39: ... the event of any malfunction or damage resulting from this 13 1 Maintenance interval INFORMATION We recommend using the Zimmer Group Repair Service for repairs Unauthorized dismantling and reassembly of the gripper can result in complications as in some cases special mounting equipment is required Opening the gripper without authorization will void the warranty CAUTION Do not blow off the gripper...

Page 40: ...93695 315 mA super quick acting Püschel 105 000 series HRC 02 101487 800 mA super quick acting Püschel 105 000 series HRC 02 101528 800 mA super quick acting Püschel 105 000 series HRC 02 101903 800 mA super quick acting Püschel 105 000 series If any safety fuses not sold or authorized by Zimmer GmbH are used the function of the gripper cannot be guaranteed Unauthorized replacement of the safety f...

Page 41: ... machine after transport check all power and communication connections as well as all mechanical connections If the product is stored for an extended period the following points are to be observed Ö Ö Keep the storage location as dust free and dry as possible Ö Ö Avoid temperature fluctuations observe the temperature range of 5 50 C Ö Ö Avoid wind drafts water condensation formation Ö Ö Package th...

Page 42: ...t technical documents Kurt Ross See manufacturer s address Rheinau Germany 2020 03 26 Martin Zimmer First name last name Address Place and date of issuance Legally binding signature Managing Partner 18 REACH declaration in terms of the EU Regulation 1907 2006 Name and address of the manufacturer Zimmer GmbH Im Salmenkopf 5 D 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com...

Page 43: ...ic health and safety requirements 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 Risk assessment and risk reduction DIN EN 60204 1 Safety of machinery Electrical equipment of machines part 1 DIN EN ISO 13849 1 Safety of machinery Safety related parts of c...

Page 44: ...omagnetic Compatibility 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 for design Risk assessment and risk reduction DIN EN 61000 6 3 EMC Generic standard Emission standard for residential commercial and light industrial environments DIN EN 61000 6 2 EMC Gene...

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