Zimmer HRC-04 Series Installation And Operating Instructions Manual Download Page 1

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INSTALLATION AND

OPERATING INSTRUC-

TIONS

HRC-04 series

Gripper, hybrid

DDOC00269

THE KNOW-HOW FACTORY

www.zimmer-group.com

Summary of Contents for HRC-04 Series

Page 1: ...INSTALLATION AND OPERATING INSTRUC TIONS HRC 04 series Gripper hybrid DDOC00269 THE KNOW HOW FACTORY www zimmer group com...

Page 2: ...Position BasePosition and WorkPositi on 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 wo...

Page 3: ...stalling the IO Link 13 7 2 3 Installing the IO Link with adapter plate 14 7 3 Installing the electrical system 15 7 3 1 Installing the wiring 15 7 3 2 Installing the pneumatic system 16 7 3 3 Install...

Page 4: ...Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com 9 Gripping force charts 28 10 Troubleshooting 29 11 Maintenance 31 12 Accessories scope of delivery 31 13 Transportation storage preservatio...

Page 5: ...ation 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 accor...

Page 6: ...hable goods food is not permitted 4 Personnel qualification Installation commissioning and maintenance may only be performed by specialists These personnel must have read and understood the installati...

Page 7: ...cent illustration figure 3 and 4 The gripper has been designed in accordance with the specifications of ISO TS 15066 The power of the motor in combination with the transmissi on design and the pre ass...

Page 8: ...ements Despite its small installation space the gripper is qualified for the gripping of a wide range of form fit and frictional fit parts and can easily be integrated into the existing control system...

Page 9: ...es HRC 04 with lateral cable gland 6 1 Electrical specifications INFORMATION For information on electrical specifications please visit our website This data varies within the series depending on the s...

Page 10: ...IO Link LED display The colors of the LED ring reflect the status of the gripper The LED ring enables a 360 status display Status Function On continuously TeachPosition Flashing Currently not assigned...

Page 11: ...The gripper achieves protection class IP40 in all mounted positions of installation 6 5 Technical data INFORMATION For information on technical data please visit our website This data varies within t...

Page 12: ...ergy supply for the electronics before any assembly installation or maintenance work Injuries are possible WARNING Risk of injury in case of unexpected movement of the machine or system into which the...

Page 13: ...unting screws are included in the scope of delivery Strength class of the mounting screws 8 8 DIN EN ISO 4762 Observe the tightening torque of the mounting screws Make sure the mounting surface is suf...

Page 14: ...ISO 4762 Observe the tightening torque of the mounting screws Make sure the mounting surface is sufficiently rigid and level The following work steps must be observed during installation Position the...

Page 15: ...ect the supply cable to the gripper and the control system You can find the corresponding supply cable on our website INFORMATION The cables that are used by Zimmer GmbH feature a minimum bending radi...

Page 16: ...2 White Actuator 24 V DC Actuator supply voltage 3 Blue GND sensor Sensor 0 V DC supply voltage 4 Black C Q IO Link communication 5 Gray GND actuator Actuator 0 V DC supply voltage The following steps...

Page 17: ...visit our website Zimmer Customer Service is available to provide you with assistance if you have any further questions 8 Commissioning 8 1 Commissioning the IO Link 8 1 1 Process data There is an opt...

Page 18: ...t sequence and commissioning can be continued If bit 6 is active in the second byte a byte swap still has to be applied here For further information refer to the StatusWord section INFORMATION It is m...

Page 19: ...Bit 11 Bit 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 0 Adjust Teach ResetDirection Flag WritePDU Datatransfer Bit 0 Datatransfer Set...

Page 20: ...to the Error diagnosis section 8 3 2 DeviceMode parameter The DeviceMode can be used to select one of the following travel mode options universal operation outside gripping and inside gripping Input...

Page 21: ...ositionTolerance Data format UINT8 Permission Write Transfer Cyclical Value range 0 to 255 8 3 5 TeachPosition parameter TeachPosition is used to tell the gripper at which position the workpiece is ex...

Page 22: ...s been taken over by the parameter ControlWord 1 deci mal this bit is active Bit 13 ControlWord 0x100 This bit is a direction flag and is active when the previous movement order was in the direction o...

Page 23: ...format UINT16 Permission Read Transfer Cyclical Value range 0 to max jaw stroke of the gripper INFORMATION The StatusWord of the gripper should be used to check whether a workpiece has been gripped co...

Page 24: ...RC 04 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 EasySta...

Page 25: ...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 shown in the followi...

Page 26: ...0 ControlWord 1 Begins with the handshake iStep 30 Jump to the next step 30 IF StatusWord 12 THEN Queries the DataTransferOK TRUE bit from StatusWord this is the response of the gripper to transferred...

Page 27: ...SE 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 Qu...

Page 28: ...Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com 9 Gripping force charts INFORMATION For information on the gripping force charts please visit our...

Page 29: ...ters Permissible range depending on model Maximum position value corre sponds to the jaw stroke x 200 e g GEP2016 with approx 16 1 mm jaw stroke 0 TeachPositi on 3220 0x302 The configured gripping for...

Page 30: ...the master has been changed Confirm the newly transferred process data with a Handsha ke ControlWord 0x1 0x0310 DeviceMode not applied Process data sent by the master has been changed Confirm the newl...

Page 31: ...ies from Zimmer GmbH are specifically fitted for the individual grippers Please refer to our website for information on corresponding accessories 13 Transportation storage preservation The gripper mus...

Page 32: ...ments Michael Hoch See manufacturer s address Rheinau Germany 11 25 2019 Martin Zimmer First name last name Address Place and date of issuance Legally binding signature Managing Partner 16 REACH decla...

Page 33: ...y 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...

Page 34: ...bility Directive 2014 30 EU in its 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 des...

Page 35: ...ATION AND OPERATING INSTRUCTIONS 2 jaw parallel gripper hybrid HRC 04 series 35 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com DDOC00269 d EN 3 3...

Page 36: ...ATION AND OPERATING INSTRUCTIONS 2 jaw parallel gripper hybrid HRC 04 series 36 DDOC00269 d EN 3 31 2020 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer gro...

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