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Zimmer HRC-03 Series, Installation And Operating Instructions Manual

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Zimmer HRC-03 Series Installation And Operating Instructions Manual Download Page 31

INSTALLATION AND OPERATING INSTRUCTIONS:

 

2-jaw parallel gripper, electric, HRC-03 series  

31

Zimmer GmbH 

●

 Im Salmenkopf 5 

●

 

 77866 Rheinau, Germany 

●

 

 +49 7844 9138 0 

●  

 +49 7844 9138 80 

●

 www.zimmer-group.com

DDOC00268 / g

EN / 2020-01-10

9.1.2  “Analog” and “D integrated analog sensing” adjustable gripping force 

The gripping force can be adjusted in four stages using a 

rotary switch.

The rotary switch can be reached through the opening 

bn

 in the sleeve 

bm

.

Summary of Contents for HRC-03 Series

Page 1: ...INSTALLATION AND OPERATING INSTRUCTIONS HRC 03 series Gripper electric DDOC00268 THE KNOW HOW FACTORY www zimmer group com ...

Page 2: ...tion BasePosition and WorkPosition 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 movement StatusWord In its bits the StatusWord supplies the most important information about the stat...

Page 3: ...installation information 10 7 2 2 IO Link installation 11 7 2 3 IO Link installation with adapter plate 12 7 2 4 Digital integrated analog sensing installation 13 7 2 5 Digital installation 14 7 3 Installation of the electrical system 15 7 3 1 Installation of the wiring 15 7 3 2 Digital and Digital integrated analog sensing 15 7 3 3 IO Link installation 16 7 4 Static charge 16 7 5 Heat dissipation...

Page 4: ... Load recipe 29 9 Operation 30 9 1 Analog and Digital integrated analog sensing 30 9 1 1 Analog and Digital integrated analog sensing emergency release 30 9 1 2 Analog and Digital integrated analog sensing adjustable gripping force 31 9 2 IO Link 32 9 2 1 IO Link emergency release 32 9 2 2 IO Link adjustable gripping force 33 10 Gripping force charts 33 11 Troubleshooting 34 12 Maintenance 36 13 A...

Page 5: ...s legislation ordinances guidelines such as the EC Machinery Directive accident 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 Zim...

Page 6: ...ood is not permitted 4 Personnel qualification Installation commissioning and maintenance may only be performed by qualified personnel 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 sele...

Page 7: ...se in collaborative applications The criteria listed below are the basis for the suitability of the gripper for use in collaborative applications Ö Ö See adjacent illustration figure 3and 4 The gripper has been designed in accordance with the specifications of ISO TS 15066 The power of the motor in combination with the transmission design and the pre assembled gripper jaws is not sufficient to gen...

Page 8: ...ide range of form fit and frictional fit parts and can easily be integrated into the existing control system The gripping force can be adapted optimally to the workpiece conditions You can optionally adjust the gripping force onto the workpiece by means of the integrated potentiometer or over the control system via IO Link The gripper can be controlled like a valve via I O ports or via IO Link Bot...

Page 9: ...gned On continuously BasePosition Flashing Currently not assigned On continuously The gripper has a fault Flashing No IO Link connection available On continuously Gripper is in undefined position Flashing Currently not assigned 6 2 2 LED display digital integrated analog sensing 6 3 Verified configuration INFORMATION For information about the verified configuration please visit our website Zimmer ...

Page 10: ...stance if you have any further questions 7 Installation 7 1 Safety notice NOTICE Switch off the energy supply for the electronics before any assembly installation or maintenance work Electronics may get damaged CAUTION Switch off the energy supply for the electronics before any assembly installation or maintenance work Injuries are possible WARNING Risk of injury in case of unexpected movement of ...

Page 11: ... the adapter flange 6 from the gripper housing Position the adapter flange 6 on the robot head or media flange using the straight pin 2a Mount the adapter flange 6 on the robot head or media flange using the mounting screws 2b Ö Ö A suitable screw in depth has to be chosen for the application Ö Ö Recommended screw in depth at least 1 5xØ Ö Ö Mounting screws are included in the scope of delivery Ö ...

Page 12: ...w the four grub screws 8 and withdraw the adapter flange 6 from the gripper housing Position the adapter flange 6 on the reducer for the adapter plate bm or media flange using the straight pin 2 a Mount the adapter flange 6 on the adapter plate bm or media flange using the mounting screws 2 a Position the adapter plate bm or media flange on the adapter plate bn using the straight pin 2 a Reinsert ...

Page 13: ... two fastening screws 8 and withdraw the sleeve bm and the plastic ring 3 Position the straight pin 2a into the drilled hole 2a of the adapter flange 6 that is required for positioning Ö Ö There are four positioning options available Screw two mounting screws 2b into the designated installation hole 2b and install the adapter flange 6 on the robot head or media flange Ö Ö A suitable screw in depth...

Page 14: ...rew two mounting screws 2b into the designated installation hole 2b and install the adapter flange 6 on the robot head or media flange Ö Ö A suitable screw in depth has to be chosen for the application Ö Ö Recommended screw in depth at least 1 5xØ Ö Ö Mounting screws are included in the scope of delivery Ö Ö Strength class of the mounting screws at least 8 8 DIN EN ISO 4762 Ö Ö Observe the tighten...

Page 15: ...of 10 x the outer diameter This bending radius must not be undershot All IO Link cables that are installed in grippers have an outer diameter of 5 mm and thus a bending radius of 50 mm Freely suspended cables must be secured to prevent excessive motion loads or pinching 7 3 2 Digital and Digital integrated analog sensing INFORMATION For information on the Digital and Digital integrated analog sens...

Page 16: ... supply via Y cable 7 4 Static charge The movement of the gripper jaws create 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 workpiece NOTICE Non compliance may result in property damage Grounding the gripper attachment gripper jaws is recommended if ESD sensitive part...

Page 17: ...er a high level is detected the gripper always executes the gripper movement all the way to the end of the gripping process It is important to ensure that after a gripper movement has taken place the corresponding signal is reset again before a signal in the opposite direction is given Between withdrawing the signal and the next command a pause of 10 ms must be observed NOTICE In order to prevent ...

Page 18: ...ssioning 8 2 1 Process data The option exists for the gripper to be controlled only by the process data 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 TeachPosition UINT 16 GripForce UINT 8 PositionTolerance UINT 8 Name Data type Status UINT 16 Diagnosis UINT 16 ActualPosition UINT 16 Gr...

Page 19: ...ect 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 control of the gripper takes place via IO Link by means of the cyclical process data as well as the acyclical service data with a cycle time of 5 ms 8...

Page 20: ...t 10 Bit 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 2 Adjust Teach ResetDirection Flag WritePDU Datatransfer Bit 0 Datatransfer Setting this bit causes the gripper to accept the data transmitted in the process data WorkpieceNo 0 or the data stored in the workpiece data records WorkpieceNo 1 to 32 as the active data set Bit 1 WritePDU Setti...

Page 21: ...the following options universal operation NC Normally Closed operation and NO Normally Open operation Input Mode Description 100 Universal mode Inside or outside gripping both movements at the same speed 60 Outside gripping Inside with the desired gripping force and speed out side movement at high speed 70 Inside gripping Outside with the desired gripping force and speed inside movement at high sp...

Page 22: ...ame PositionTolerance Data format UINT8 Permission Write Transfer Cyclical Value range 0 to 255 8 4 5 GripForce parameter The gripper can use various gripping forces and gripping speeds for an optimized gripping process flow Since the gripper generates the gripping force from its gripping speed in combination with the amperage the setting of the gripping force also conversely influences the grippi...

Page 23: ...ge 0 to max jaw stroke of the gripper 8 4 7 StatusWord parameter Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Byte 1 Error Control Word 0x200 Control Word 0x100 DataTrans ferOK Undefined Position WorkPosi tion TeachPosi tion BasePosi tion Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 Gripper PLC active Bit 6 GripperPLCActive Active as soon as the gripper has booted up after the c...

Page 24: ...or which the error message is not reset after acknowledgment The user must wait until the correct values are sent to the gripper For example Overheating fault case INFORMATION It is advisable to use the StatusWord to verify correct gripping The TeachPosition tolerance can be adjusted in another process parameter For sensing the correct position via the ACTUAL position the tolerances and fluctuatio...

Page 25: ... should be used to check whether a workpiece has been gripped correctly Ö Ö The position measurement resolution is 0 01 mm Ö Ö The position measurement accuracy is 0 1 mm If the ActualPosition parameter is used for detecting the workpiece then fluctuations around the exact value must be taken into consideration during commissioning 8 5 Cold boot For proper function we recommend that the actuator a...

Page 26: ...3 series In the following example code you see the first time initialization of the gripper and the transfer of the process parameters Initialization of the gripper first time move command EasyStartUp Example IF bStart TRUE THEN iStep 10 END_IF CASE iStep OF 10 IF StatusWord 6 THEN Queries the PLCActive bit in the StatusWord ControlWord 1 Sends the DataTransfer bit in the ControlWord for initializ...

Page 27: ...irection 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 shown in the following Multiple movement in one direction in Structured Text ST The gripper is not capable of accepting multiple move commands in the same direction That is why the direction flag has to be reset in the Status...

Page 28: ...0 ControlWord 1 Begins with the handshake iStep 30 Jump to the next step 30 IF StatusWord 12 THEN Query of the DataTransferOK TRUE bit from StatusWord this is the response of the gripper to transferred data ControlWord 0 ControlWord reset iStep 40 Jump to the next step END_IF 40 IF NOT StatusWord 12 THEN Queries the completion of the data transfer DataTransferOK FALSE ControlWord 2 Handshake is co...

Page 29: ... CASE iStep OF 10 WorkpieceNo 3 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 Query of the DataTransferOK TRUE bit from StatusWord this is the response of the gripper to transferred data ControlWord 0 ControlWord reset iStep 40 Jump to the next step END_IF 40 IF NOT StatusWord...

Page 30: ...emergency release that can be mechanically opened in the event of a power failure Before the emergency release can be opened the sleeve bm must be removed 9 1 Analog and Digital integrated analog sensing 9 1 1 Analog and Digital integrated analog sensing emergency release The following work steps must be observed before operating the emergency release Unscrew the two fastening screws 8 and withdra...

Page 31: ...7866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com DDOC00268 g EN 2020 01 10 9 1 2 Analog and Digital integrated analog sensing adjustable gripping force The gripping force can be adjusted in four stages using a rotary switch The rotary switch can be reached through the opening bn in the sleeve bm ...

Page 32: ...se The following work steps must be observed before operating the emergency release Unscrew the two fastening screws 8 and withdraw the sleeve bm and the LED ring 3 Ö Ö Then remove the cover screw see detail view Fig 1 Ö Ö After this the emergency release bo can be operated see detail view Fig 2 Ö Ö In the event of a power failure the emergency release bo can be opened using an Allen key Fig 1 Rem...

Page 33: ...r group com DDOC00268 g EN 2020 01 10 9 2 2 IO Link adjustable gripping force For the IO Link variant the gripping force is adjusted conveniently by means of the control system 10 Gripping force charts INFORMATION For information on the gripping force charts please visit our website Zimmer Customer Service is available to provide you assistance if you have any further questions ...

Page 34: ...arameters Permissible range depending on model Maximum position value corresponds to the jaw stroke x 200 e g GEP2016 with approx 16 1 mm jaw stroke 0 TeachPosition 3220 0x302 The configured gripping force is outside the permitted range Wrong value in the GripForce parameter Test of the GripForce parameters Permitted range 0 GripForce 4 0x304 The configured tolerance value is outside the permitted...

Page 35: ...y the master has been changed Confirm the newly transferred process data with a Handshake ControlWord 0x1 0x0310 DeviceMode not applied Process data sent by the master has been changed Confirm the newly transferred process data with a Handshake ControlWord 0x1 0x0311 WorkpieceNo not available Process data sent by the master has been changed Confirm the newly transferred process data with a Handsha...

Page 36: ...ividual grippers For information on corresponding accessories please visit our website 14 Transportation storage preservation The transport and storage of the gripper must take place exclusively in the original packaging If the gripper has already been installed on the higher level machine unit it must be ensured during transport that no unintentional movements may take place Before commissioning ...

Page 37: ...cuments Michael Hoch See manufacturer s address Rheinau Germany 2019 09 02 Martin Zimmer First name last name Address Place and date of issuance Legally binding signature Managing Partner 17 REACH declaration In terms of the EU Regulation 1907 2006 Name and address of the manufacturer Zimmer GmbH 77866 Rheinau Im Salmenkopf 5 49 7844 9138 0 49 7844 9138 80 www zimmer group com REACH stands for Reg...

Page 38: ...fety 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 control systems D...

Page 39: ...ibility 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 Generic standard Imm...

Page 40: ...ATION AND OPERATING INSTRUCTIONS 2 jaw parallel gripper electric HRC 03 series 40 DDOC00268 g EN 2020 01 10 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com ...

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