Zimmer HRC-07 Series, Installation And Operating Instructions Manual

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1 Supporting documents ............................................................................................................................................................... 5
1.1 Notices and graphics in the installation and operating instructions ...............................................................................................................................5
2 Safety notices ...............................................................................................................................................................................6
3 Proper use ....................................................................................................................................................................................7
4 Personnel qualification ................................................................................................................................................................ 7
5 Product description .....................................................................................................................................................................8
5.1 Possible applications ...........................................................................................................................................................................................................8
5.2 Forces and torques ..............................................................................................................................................................................................................8
5.3 Type plate .............................................................................................................................................................................................................................9
5.4 Use in applications ..............................................................................................................................................................................................................9
6 Functional description ...............................................................................................................................................................10
6.1 LED status display .............................................................................................................................................................................................................11
6.2 Control ................................................................................................................................................................................................................................12
6.3 Verified configuration examples .......................................................................................................................................................................................12
6.4 Self-locking mechanism ....................................................................................................................................................................................................12
7 Technical data ............................................................................................................................................................................12
8 Accessories/scope of delivery .................................................................................................................................................13
9 Transportation/storage/preservation .......................................................................................................................................13
10 Installation ..................................................................................................................................................................................14
10.1 Installing the product .........................................................................................................................................................................................................15
10.2 Safe shutoff for products with IO-Link ..............................................................................................................................................................................16
10.3 Installing the energy supply ..............................................................................................................................................................................................17
10.3.1 Mounting the pin assignment .............................................................................................................................................................................17
10.4 Static charge ......................................................................................................................................................................................................................18
10.5 Heat dissipation .................................................................................................................................................................................................................18
10.6 Installing accessories ........................................................................................................................................................................................................18
11 Commissioning ..........................................................................................................................................................................19
11.1 Process data .....................................................................................................................................................................................................................19
11.2 IODD Import .......................................................................................................................................................................................................................20
11.3 Handshake Data Transfer Method ....................................................................................................................................................................................20
11.4 Parameters .........................................................................................................................................................................................................................21
11.4.1 ControlWord .........................................................................................................................................................................................................21
11.4.2 DeviceMode .........................................................................................................................................................................................................22
11.4.3 WorkpieceNo .......................................................................................................................................................................................................26
11.4.4 PositionTolerance ................................................................................................................................................................................................26
11.4.5 GripForce .............................................................................................................................................................................................................27
11.4.6 DriveVelocity ........................................................................................................................................................................................................27
11.4.7 BasePosition ........................................................................................................................................................................................................28
11.4.8 TeachPosition .......................................................................................................................................................................................................28
11.4.9 WorkPosition ........................................................................................................................................................................................................28
11.4.10 StatusWord ...........................................................................................................................................................................................................29
11.4.11 Diagnosis ..............................................................................................................................................................................................................31
11.4.12 ActualPosition ......................................................................................................................................................................................................31
11.5 Minimum travel path ..........................................................................................................................................................................................................32
11.6 Minimum startup path .......................................................................................................................................................................................................32
11.7 Easy Startup .......................................................................................................................................................................................................................32
11.8 Quickstart Basic Parameters ............................................................................................................................................................................................33
11.9 Starting the gripping movement .......................................................................................................................................................................................34
11.10 Repeated movements in the same direction ...................................................................................................................................................................34
INSTALLATION AND OPERATING INSTRUCTIONS: HRC-07
DDOC01015 / a
EN / 2022-07-20
Zimmer GmbH • Im Salmenkopf 5 •

77866 Rheinau, Germany •

+49 7844 9138 0 • www.zimmer-group.com
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