Zimmer HRC-05 Series Installation And Operating Instructions Manual Download Page 1

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INSTALLATION

AND OPERATING

INSTRUCTIONS

HRC-05 series

2-jaw angular grippers

DDOC00270

THE KNOW-HOW FACTORY

www.zimmer-group.com

Summary of Contents for HRC-05 Series

Page 1: ...INSTALLATION AND OPERATING INSTRUCTIONS HRC 05 series 2 jaw angular grippers DDOC00270 THE KNOW HOW FACTORY www zimmer group com...

Page 2: ...e 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...

Page 3: ...talling a gripper with a central cable gland 11 7 2 3 Installing a gripper with a lateral cable gland 12 7 3 Installing the power supply 13 7 3 1 Installing the wiring 13 7 3 2 Installing the pneumati...

Page 4: ...ectric pneumatic HRC 05 series 9 Operation 27 9 1 IO Link 27 9 1 1 IO Link adjustable gripping force 27 10 Error diagnosis 28 11 Maintenance 30 12 Accessories scope of delivery 30 13 Transportation st...

Page 5: ...legislation 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 i...

Page 6: ...ocess Direct contact with perishable goods food is not permitted 4 Personnel qualification Installation commissioning and maintenance may only be performed by specialists These personnel must have rea...

Page 7: ...accordance with the specifications of ISO TS 15066 The power of the motor in combination with the transmis sion design and the pre assembled gripper jaws is not suffi cient to generate a gripping forc...

Page 8: ...s transferred to the gripper jaws by kinematics producing the gripping force Fig 1 Gripper series HRC 05 with central cable gland Fig 2 Gripper series HRC 05 with lateral cable gland 6 1 Electrical sp...

Page 9: ...splay 6 2 1 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...

Page 10: ...sign Zimmer Customer Service is available to provide you with assistance if you have any further questions 7 Installation 7 1 Safety notes NOTICE Switch off the energy supply for the electronics befor...

Page 11: ...ting 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 suffi...

Page 12: ...ting 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 suffi...

Page 13: ...Connect 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...

Page 14: ...y for IO Link communication 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...

Page 15: ...lease 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...

Page 16: ...correct 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...

Page 17: ...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 Setting th...

Page 18: ...he driving mode from the following options universal operation NC Nor mally Closed operation and NO Normally Open operation Input Mode Description 100 Universal mode Inside and outside gripping both m...

Page 19: ...erance with a resolution of 0 01 mm Thus the value range of 0 to 255 can be used to set a maximum tolerance of 2 55 mm in both directions INFORMATION Example If the Teach position has a value of 1500...

Page 20: ...w stroke of the gripper 8 3 6 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...

Page 21: ...lts for which the error message is not reset after acknowledg ment The user must wait until the correct values are sent to the gripper For example Overheating fault case INFORMATION It is advisable to...

Page 22: ...N The StatusWord of the gripper should be used to check whether a workpiece has been gripped correct ly The position measurement resolution is 0 01 mm The position measurement accuracy is 0 1 mm If th...

Page 23: ...ke 8 6 1 Easy Startup HRC 05 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 ti...

Page 24: ...he 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 followin...

Page 25: ...ep 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 transf...

Page 26: ..._IF 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 T...

Page 27: ...9138 80 www zimmer group com 9 Operation 9 1 IO Link 9 1 1 IO Link adjustable gripping force For the IO Link variant the gripping force is adjusted conveniently by means of the control system Gripping...

Page 28: ...operating pressure N max 8 bar NC NO max 7 bar 0x105 Operating pressure too low Pressure supply not connected Line break Pressure in pressure supply set too low Check the pressure supply at least 2 b...

Page 29: ...not transferred Process data sent by the mas ter has been changed Confirm the newly transferred process data with a Hand shake ControlWord 0x1 0x310 DeviceMode not applied Process data sent by the mas...

Page 30: ...sories 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 transpor...

Page 31: ...hnical documents Michael Hoch See manufacturer s address Rheinau Germany 2020 02 03 Martin Zimmer First name last name Address Place and date of issuance Legally binding signature Managing Partner 16...

Page 32: ...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...

Page 33: ...agnetic Compatibility 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 pri...

Page 34: ...f EN 2020 03 31 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com INSTALLATION AND OPERATING INSTRUCTIONS 2 jaw angular grippers electric pneumatic...

Page 35: ...AND OPERATING INSTRUCTIONS 2 jaw angular grippers electric pneumatic HRC 05 series 35 DDOC00270 f EN 2020 03 31 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zim...

Page 36: ...f EN 2020 03 31 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com INSTALLATION AND OPERATING INSTRUCTIONS 2 jaw angular grippers electric pneumatic...

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