Zimmer HRC-03-117137 Installation And Operating Instructions Manual Download

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INSTALLATION AND

OPERATING

INSTRUCTIONS

2-jaw parallel gripper, electric

HRC-03

DDOC00268

THE KNOW-HOW FACTORY

www.zimmer-group.com

Summary of Contents for HRC-03-117137

Page 1: ...INSTALLATION AND OPERATING INSTRUCTIONS 2 jaw parallel gripper electric HRC 03 DDOC00268 THE KNOW HOW FACTORY www zimmer group com...

Page 2: ...h directions ShiftPosition ShiftPosition is a switching position between pre positioning and gripper movement StatusWord In its bits returns the most important information about the status of the prod...

Page 3: ...ment 19 10 5 2 HRC 03 116787 pin assignment 19 10 5 3 HRC 03 117137 pin assignment 20 10 5 4 HRC 03 118505 pin assignment 20 10 5 5 HRC 03 125035 pin assignment 21 10 5 6 HRC 03 126649 pin assignment...

Page 4: ...xamples 42 12 11 1 Save recipe 42 12 11 2 Loading a recipe 43 13 Operation 44 13 1 Operating Freedrive 44 13 2 Setting the gripping force 45 13 3 Emergency release 46 14 Gripping force charts 46 15 Er...

Page 5: ...ding these dangers The warning symbols are assigned according to the type of danger WARNING This notice warns of a situation that is potentially hazardous to personal health Ignoring these notices can...

Page 6: ...h as aggressive fluids or abrasive dusts Additional drilled holes or threads Zimmer GmbH shall accept no liability for any damage caused by improper use The operator bears sole responsibility Make sur...

Page 7: ...sed in its original state with its original accessories with no unauthorized changes and within the stipulated parameter limits and operating conditions Any other or secondary use is deemed improper O...

Page 8: ...selection can lead to malfunction 5 1 Possible applications Outside gripping Inside gripping The product can be used for outside gripping The product can be used for inside gripping MoveToWork command...

Page 9: ...ping soft objects are significantly reduced since the amount of dynamic force is lowered Compliance with the maximum permitted gripping force has been verified using a suitable measuring instrument Th...

Page 10: ...r gripping a wide range of form fit and frictional fit parts You can optionally adjust the gripping force to the workpiece by using the control system via IO Link Depending on the installation size th...

Page 11: ...eet on our website Please contact Zimmer Customer Service if you have any questions 6 4 Self locking mechanism INFORMATION The product has a mechanical self locking mechanism to ensure that the workpi...

Page 12: ...sport to ensure that no unexpected movements can occur Before commissioning the product and after transport check all power and communication connections as well as all mechanical connections If the p...

Page 13: ...e installation and operating instructions Switch off the power supply before any assembly installation or maintenance work INFORMATION Requirements for a mounting surface with a length 100 mm Permissi...

Page 14: ...ting piece Mount the product on the robot flange using the mounting screws Install the housing using the countersunk screws 8 Straight pins 9 Mounting screw bl Case bm Countersunk screw Zimmer GmbH Im...

Page 15: ...of delivery Strength class of the mounting screws is at least 8 8 DIN EN ISO 4762 Use M3x16 mounting screws Position the ClickSmart plate on the product bn bo Loosely attach the mounting screws Tight...

Page 16: ...ng screws Position the product on the adapter plate using the straight pin Mount the product on the adapter plate using the mounting screws Install the housing using the countersunk screws bp Adapter...

Page 17: ...3 GND V2 4 V1 1 V2 2 GND V1 3 GND V2 4 V2 1 DXP 2 GND V2 3 C Q 4 n c 5 BR WS BL SW Power IN 21 22 21 22 21 22 21 22 K1 S24V 1 P24V 2 SGND 3 C Q 4 PGND 5 Up GND Up Us GND Us PE Up GND Up Us GND Us PE...

Page 18: ...e outer diameter This bending radius must not be undershot Freely suspended cables must be secured to prevent excessive motion loads or pinching The contacts of the energy supply must be dry clean and...

Page 19: ...Pin 3 or Pin 4 10 5 2 HRC 03 116787 pin assignment pin Color Function Explanation 6 1 2 4 8 3 5 7 M8 8 pin Socket bracket 1 White Analog output 0 to 10 V DC output 2 Brown Reserve 3 Green 4 Yellow 5...

Page 20: ...ent pin Color Function Explanation 6 1 2 4 8 3 5 7 M8 8 pin Socket bracket 1 White Analog output 0 to 10 V DC output 2 Brown Reserve 3 Green Signal 2 4 Yellow Special function Freedrive signal 24 V if...

Page 21: ...el at Pin 3 or Pin 4 10 5 6 HRC 03 126649 pin assignment pin Color Function Explanation 6 1 2 4 8 3 5 7 M8 8 pin Socket bracket 1 White 2 Brown 3 Green Output Inside signal 4 Yellow Output Outside sig...

Page 22: ...til the gripping process ends Reset the corresponding signal after the movement is complete The signal must be reset before a signal is emitted in the opposite direction Observe a break time of 10 ms...

Page 23: ...M8 8 pin Socket bracket 1 2 3 Green Output Inside signal 4 Yellow Output Outside signal 5 Gray 24 V DC 24 V DC supply voltage 6 Pink Input Outward move command 7 Blue Input Inward move command 8 Red...

Page 24: ...uts of the product are configured for PNP outputs of the control system Connect the product to the voltage supply Ensure the proper voltage supply A voltage supply between Pin 7 and Pin 8 is necessary...

Page 25: ...n In the event of high ambient temperatures the product must be installed on heat dissipating materials If the product is operated under very high ambient temperatures and with fast clock cycles on an...

Page 26: ...a high level is detected the gripper movement occurs until the gripping process ends Reset the corresponding signal after the movement is complete The signal must be reset before a signal is emitted...

Page 27: ...hat both input signals are switched for 5 seconds after a restart The product opens and closes several times and then stays open The factory default settings are BasePosition and WorkPosition Teaching...

Page 28: ...ication simultaneous activation of both voltages is also possible INFORMATION If the sensor supply is disconnected the C Q signal IO Link must be disconnected as well 11 5 Minimum travel path The prod...

Page 29: ...product Name Data type ControlWord UINT16 DeviceMode UINT8 WorkpieceNo UINT8 TeachPosition UINT16 GripForce UINT8 PositionTolerance UINT8 Control system Gripper Input Output Name Data type StatusWord...

Page 30: ...second byte Apply a byte swap refer to the StatusWord section INFORMATION The product is controlled via IO Link by means of the cyclical process data as well as the acyclic service data with a cycle...

Page 31: ...080 MoveToBase 256 0x0100 MoveToWork 512 0x0200 ErrorReset 32768 0x8000 Name ControlWord Data format UINT16 Permission Write Transfer Cyclical Value range 0 65535 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bi...

Page 32: ...recipes NOTICE Please note that the product can be damaged from overheating due to repeated prompt movement to the end stop or with a gripped workpiece Bit 3 Teach Setting this bit tells the product...

Page 33: ...of movement is Base To achieve the best gripping results the gripped workpiece must be transported further during the subsequent current feed 103 Universal operation with subsequent current feed Like...

Page 34: ...ipped workpiece movement standstill subsequent current feed workpiece loss detection NOTICE In case of workpiece loss the product moves to the end position and outputs a message Zimmer GmbH Im Salmenk...

Page 35: ...he corresponding workpiece recipe is loaded in the product 12 4 4 PositionTolerance Used to configure the position tolerance with a resolution of 0 01 mm Thus the value range of 0 to 255 can be used t...

Page 36: ...mission Write Transfer Cyclical Value range 1 Level 1 2 Level 2 3 Level 3 4 Level 4 12 4 6 TeachPosition The TeachPosition notifies the product of the expected position of the workpiece The tolerance...

Page 37: ...ve if the product is not set to TeachPosition WorkPosition or BasePosition Bit 12 DataTransferOK This bit is used for data transmission using the handshake Active as soon as the product has taken over...

Page 38: ...12 4 9 ActualPosition ActualPosition corresponds to the current position of the gripper jaws relative to the full stroke The value is specified with a resolution of 0 01 mm The values can move betwee...

Page 39: ...per gripper jaw mm HRC 03 126902 0 5 12 7 Easy Startup Describes the process from switching on the product to the initial movement Connect the product according to its assignment diagram The product...

Page 40: ...f the initialization iStep 30 Jump to the next step END_IF 30 IF NOT StatusWord 12 THEN DeviceMode 100 Command to select the universal mode GripForce 4 Gripping force setting ControlWord 1 Data transf...

Page 41: ...direction flags The direction flags are reset when the product answers with status bit 13 AND 14 FALSE Program example for repeated movements in the same direction Multiple movement in one direction...

Page 42: ...tusWord Response of the product to transferred data ControlWord 0 Reset the ControlWord iStep 40 Jump to the next step END_IF 40 IF NOT StatusWord 12 THEN Query for completion of the data transfer Dat...

Page 43: ...F StatusWord 12 THEN Queries the bit DataTransferOK TRUE from StatusWord Response of the product to transferred data ControlWord 0 Reset the ControlWord iStep 40 Jump to the next step END_IF 40 IF NOT...

Page 44: ...ot is moved with the product to the desired position Release the Freedrive Button again as soon as you have reached the desired position The robot and product stop at their position Observe the inform...

Page 45: ...if the energy supply drops off Please contact Zimmer Customer Service if you have any questions The gripping force can be adjusted in four stages using a rotary switch INFORMATION The gripping force...

Page 46: ...ease with a corresponding Allen key Design size Wrench size mm HRC 03 1 5 14 Gripping force charts INFORMATION You can find information on our website Please contact Zimmer Customer Service if you hav...

Page 47: ...e lost Gripping force is not sufficient Workpiece was not gripped correctly Gripper finger geometry does not match the gripped workpiece Workpiece is too heavy Check the required gripping force Check...

Page 48: ...ta were not taken over Apply the process data via a handshake 0x0310 DeviceMode was changed Modified process data were not taken over Apply the process data via a handshake 0x0311 WorkpieceNo was chan...

Page 49: ...reference run is being performed 15 2 Status in LED display for Digital error Green LED lights up continuously No error Red LED flashes every second Green LED lights up continuously Loss of workpiece...

Page 50: ...tion of the process data 0x0103 259 DeviceMode UINT8 Read 1 95 Reflection of the process data 0x0104 260 PositionTolerance UINT8 Read 0 255 Reflection of the process data 0x0105 261 GripForce UINT8 Re...

Page 51: ...WorkPo sition to the outside Resetting all changes to factory settings using an IO Link factory reset 0x022f 559 Holding current UINT16 Read write 0 to 1000 Amperage for current after supply scaled t...

Page 52: ...llion cycles The maintenance interval may be shortened under the following circumstances Dirty environment Improper use and use that does not comply with the power specifications Permissible temperatu...

Page 53: ...20 REACH declaration In terms of the EC Regulation 1907 2006 Name and address of the manufacturer Zimmer GmbH Im Salmenkopf 77866 Rheinau Germany 49 7844 9138 0 info zimmer group com www zimmer group...

Page 54: ...t the specific technical documents were produced in accordance with Annex VII Part B of this Directive We undertake to provide the market supervisory bodies with electronic versions of special documen...

Page 55: ...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 in dustrial DIN EN 61000 6 2 EM...

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