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Zimmer GmbH

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Am Glockenloch 2

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

77866 Rheinau, Germany

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

+49 7844 9138 0

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

+49 7844 9138 80

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www.zimmer-group.com

INSTALLATION AND OPERATING IN-

STRUCTIONS:

GEP5000/GED5000 electric gripper series

EN / 05/01/2021

DDOC00211/i

8.2 Commissioning for GEP5000IL-00/GED5000IL-00

8.2.1 Process data

There is an option to control the product only with the process data that is transmitted in each cycle.
Outputs: Process data from the IO-Link master to the product!

Name

Data type

ControlWord

UINT16

DeviceMode

UINT8

Workpiece No.

UINT8

TeachPosition

UINT16

GripForce

UINT8

PositionTolerance

UINT8

Steuerung

Produkt

Eingang

Ausgang

Name

Data type

StatusWord

UINT16

Diagnosis

UINT16

ActualPosition

UINT16

When the hardware configuration is complete and the IO-Link connection to the product is established, some data must be

visible in the process input data.

Some control systems demand a byte swap to bring this process data into a logical sequence.

►

To determine whether a byte swap is necessary, you can view bit 6 (GripperPLCActive) in the "StatusWord."

►

For this purpose, it is necessary to determine whether bit 6 is active in the first or second status byte.

If bit 6 is active in the first byte, the bytes already have the 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.

Содержание GED5000IL Series

Страница 1: ...www zimmer group com INSTALLATION AND OPERATING INSTRUCTIONS 2 jaw parallel gripper 3 jaw concentric gripper GEP5000IL GED5000IL series DDOC00211 THE KNOW HOW FACTORY...

Страница 2: ...rance window for the TeachPosition BasePosition and WorkPosition The value of the parameter acts in both directions BasePosition The BasePosition is the outer JawPosition Depending on the gripper prof...

Страница 3: ...6 8 1 Movement profile of the travel of the gripper toward the WorkPosition outside gripping 12 6 8 2 Movement profile of the travel of the gripper toward the BasePosition inside gripping 13 7 Install...

Страница 4: ...P5000IO GED5000IO 37 9 2 Menu cycle course of action for GEP5000IO GED5000IO 38 9 3 Menu function for GEP5000IO GED5000IO 38 9 4 Menu settings for GEP5000IO GED5000IO 39 9 4 1 Menu 1 Force setting 39...

Страница 5: ...ked with signal words DANGER This notice warns of an imminent danger to the life and health of people Ignoring these notices can lead to serious injury or even death You absolutely must comply with th...

Страница 6: ...adding drilled holes or threads may be made only with prior approval from Zimmer GmbH The specified maintenance intervals are to be observed also refer to the Maintenance section When the product is u...

Страница 7: ...cal condition that corresponds to the guaranteed parameters and operating conditions Zimmer GmbH shall accept no liability for any damage caused by improper use The operator bears sole responsibility...

Страница 8: ...orrect An incorrect configuration or selection can lead to malfunction The product is a secure quick change system in accordance with DIN ISO 13849 1 The basic and proven safety principles from DIN EN...

Страница 9: ...ative to each other The power of the motor is converted into a linear movement by means of a wedge hook transmission and is thereby transferred to the gripper jaws Despite its small installation space...

Страница 10: ...mmunication cp Plus button Increase parameter value cm Error cq Set button cn Position display menu cr Minus button Decrease parameter value co Parameter display Binary error code display cp cl cm co...

Страница 11: ...efer to our website at www zimmer group com Please contact Zimmer Customer Service if you have any questions 6 4 Verified configuration examples INFORMATION For information on verified configuration e...

Страница 12: ...lation size Minimum travel path GEP GED5006IO IL 1 25 mm per gripper jaw GEP GED5008IO IL 1 25 mm per gripper jaw GEP GED5010IO IL 1 25 mm per gripper jaw Then the gripper moves slightly past the fron...

Страница 13: ...sePosition inside gripping Greifrichtung BasePosition 1 100 mm WorkPosition 1 100 mm TeachPosition PositionTolerance Anfahrtsweg 1 25 mm 0 2 mm je Backe verbotener Greifbereich Toleranz Toleranz Endla...

Страница 14: ...event of unexpected movement of the product when the power supply is connected Switch off the power supply to the product before all work Secure the power supply against being switched on unintentiona...

Страница 15: ...g the mechanical system 7 2 1 Installing GEP5000IL The product can be installed with its base or side on the mounting piece The following work steps must be observed during installation Insert the cen...

Страница 16: ...DOC00211 i 7 2 2 Installing GED5000IL The product can be installed with its base or side on the mounting piece The following work steps must be observed during installation Insert the mounting pins bm...

Страница 17: ...DOC00211 i 7 3 Installing the power supply Observe the following work steps Connect the power supply cable You can find the corresponding supply cables on our website NOTICE The cables that are used b...

Страница 18: ...4 1 Installing the wiring Pin Color Function Explanation 3 2 1 4 5 1 Brown 24 V DC sensor Power supply for IO Link communication 2 White 24 V DC actuator Actuator supply voltage 3 Blue GND sensor 0 V...

Страница 19: ...or message 4 Yellow TeachPosition Output Gripper in programming position message 5 Gray BasePosition Output Gripper in base position message 6 Pink 24 V DC Supply voltage 24 V DC 5 A 7 Blue Teach Adju...

Страница 20: ...ement of the gripper jaws creates low voltages as a result of static charging These charges cannot be dissipated if the product is mounted on an insulating surface and if discharge is also not possibl...

Страница 21: ...responding signal is at a high level After a high level is detected the gripper movement occurs until the gripping process ends It is important to ensure that after a gripper movement has taken place...

Страница 22: ...display lights up green 8 1 3 Teaching in the end positions INFORMATION If necessary end positions set at the factory can be re set via an automatic traversing routine The following work steps must b...

Страница 23: ...t Eingang Ausgang Name Data type StatusWord UINT16 Diagnosis UINT16 ActualPosition UINT16 When the hardware configuration is complete and the IO Link connection to the product is established some data...

Страница 24: ...a cycle time of 5 ms 8 3 Handshake data transfer method All process data that is transferred to the product and is described in the sections that follow must be transferred using the Handshake INFORMA...

Страница 25: ...Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Byte 1 ErrorReset MoveToWork MoveToBase Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 2 Adjust Teach ResetDirec tionFlag WritePDU DataTransfer Bit 0 DataTransf...

Страница 26: ...t can be used to execute a readjustment of the end positions of the jaw Bit 8 MoveToBase Setting this bit tells the product to move toward the BasePosition Bit 9 MoveToWork Setting this bit tells the...

Страница 27: ...1 2 and 3 are also available Input Mode Description 1 Universal mode Inside and outside gripping both movements at the same speed 2 Outside gripping Inward with the desired gripping force and speed ou...

Страница 28: ...Save recipe and Load recipe At a value 0 the corresponding workpiece recipe is loaded in the product Name WorkpieceNo Data format UINT8 Permission Write Transfer Cyclical Value range 0 to 32 8 4 4 Pos...

Страница 29: ...vice if you have any questions Name GripForce Data format UINT8 Permission Write Transfer Cyclical Value range 1 Stage 1 2 Stage 2 3 Stage 3 4 Stage 4 5 Stage 5 8 4 6 TeachPosition parameter TeachPosi...

Страница 30: ...ul data transfer which is initiated with the ControlWord 1 DataTransfer Active once the product has taken over the data using the parameter ControlWord 1 DEC Bit 13 ControlWord 0x100 Active if the las...

Страница 31: ...jaws relative to the full stroke The value is specified with a resolution of 0 01 mm The values can vary between the BasePosition minimum values and the WorkPosition maximum values With the position m...

Страница 32: ...ected PIN 4 IO Link must also be disconnected 8 6 Easy Startup From switching on the product to the initial movement The product is to be connected in accordance with its assignment diagram The produc...

Страница 33: ...rolWord 1 Sends the DataTransfer bit in the ControlWord for initialization iStep 20 Jump to the next step END_IF 20 IF StatusWord 12 THEN Queries the DataTransferOK bit in the StatusWord ControlWord 0...

Страница 34: ...the product answers with Statusbit 13 AND 14 FALSE A schematic program example for multiple movements in the same direction is shown in the following Multiple movement in one direction in Structured...

Страница 35: ...1 Begins with the Handshake iStep 30 Jump to the next step 30 IF StatusWord 12 THEN Queries the bit DataTransferOK TRUE from the StatusWord this is the response of the product to transmitted data Cont...

Страница 36: ...tep 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 Queries...

Страница 37: ...tructure for GEP5000IO GED5000IO Rest Betriebsdauer nicht belegt TeachPosition Position Greifer Modus TeachPosition Breite Krafteinstellung Hauptmen set 3 Sek set set 3 Sek Rest Betriebsdauer auf 30 M...

Страница 38: ...n a range from 1 to 5 using the arrow keys Save the value Press SET The value is saved The gripper returns to the menu display The menu display LEDs will flash You can scroll through the individual me...

Страница 39: ...a manner that is easy on both the electronics and the mechanical components CAUTION The gripper cannot move to a fixed limit stop e g a workpiece during a fast backward movement because it would be s...

Страница 40: ...ase visit our website Please contact Zimmer Customer Service if you have any questions 9 4 4 Menu 4 Teach area Position GEP5006 GED5006 GEP5008 GED5008 GEP5010 GED5010 Position teach area Offset mm Of...

Страница 41: ...ControlWord is implausible Multiple bits are set in ControlWord Only one bit is permitted to be active in ControlWord 0x301 The configured TeachPosition is outside the permitted range Incorrect value...

Страница 42: ...hake ControlWord 0x1 0x030D GripForce not transferred Process data sent by the master has been changed Confirm the newly transferred process data with a Handshake ControlWord 0x1 0x030F TeachTolerance...

Страница 43: ...the gripper s freedom of movement Zimmer Customer Service 1 5 Motor has excess current in idle mode Internal error Zimmer Customer Service 1 5 Temperature of the motor output stage above the limit va...

Страница 44: ...s freedom of movement Zimmer Customer Service 1 5 DIR signal 1 Nevertheless the gripper does not reach WorkPosition or TeachPo sition Gripper is difficult to move Travel path of the gripper is impeded...

Страница 45: ...er Service if you have any questions Index Name Data format Access right Values Description 0x64 100 Firmware application STRING Read 1 to 64 Current firmware of the application controller 0x41 65 Dia...

Страница 46: ...aster Even though the product is maintenance free as mentioned above perform a regular visual inspection to check for any corrosion damage or contamination We recommend allowing maintenance and seal r...

Страница 47: ...ing and after transport check all power and communication connections as well as all mechanical connections Observe the following points when storing the product for longer periods of time Keep the st...

Страница 48: ...rket Michael Hoch Rheinau Germany 2020 11 15 Authorized representative for compiling the relevant technical documents Place and date of issuance Martin Zimmer Legally binding signature Managing Partne...

Страница 49: ...ty 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 Safet...

Страница 50: ...o the requirements of the Electromagnetic Compatibility 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 201...

Страница 51: ...GmbH Am Glockenloch 2 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com 51 INSTALLATION AND OPERATING IN STRUCTIONS GEP5000 GED5000 electric gripper series EN 05 01 2021 DDOC0...

Страница 52: ...GmbH Am Glockenloch 2 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com 52 INSTALLATION AND OPERATING IN STRUCTIONS GEP5000 GED5000 electric gripper series EN 05 01 2021 DDOC0...

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