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11.3 EtherCAT

NOTICE

Commissioning the product depends on the configuration of the drive control unit and can therefore vary.
This section uses the commissioning of the product of the GEH8660-B installation size as an example.

►

Do not use the example as a programming template.

►

For more information, refer to the "Function of the function block” section.

11.3.1

Configuring the drive control unit

►

Connect the drive control unit to the computer using its network interface.

►

Search for the correct drive control unit using the

IndraWorks Ds

software, see section “Setting the IP address”.

►

In the

Configuration

menu, click

Load

The

Load Parameters

window opens.

►

Enable the option field of the desired

parameter set.

►

Click the

Load

button.

The

Load Parameters

window closes.

►

In the navigation pane, click

Master

Communication

The

Master Communication Basic Settings

tab is displayed in the window.

►

In the

Active Protocol

drop-down menu,

select the communication type for the

control system.

INSTALLATION AND OPERATING INSTRUCTIONS:

GEH8000

DDOC00262 / e

EN / 2023-03-06

Zimmer GmbH • Im Salmenkopf 5 •



77866 Rheinau, Germany •



+49 7844 9138 0 • www.zimmer-group.com

Содержание GEH8660-B

Страница 1: ...INSTALLATION AND OPERATING INSTRUCTIONS 2 jaw parallel gripper with long stroke electric GEH8000 series DDOC00262 THE KNOW HOW FACTORY www zimmer group com...

Страница 2: ...ion for ground connection Offset Correction value PositionTolerance Tolerance range for TeachPosition BasePosition and WorkPosition The value of the parameter acts in both directions StatusWord In its...

Страница 3: ...17 11 2 3 Loading axis specific parameter sets 19 11 2 4 Moving the product in Easy Startup mode 20 11 2 5 Referencing the motor encoder 22 11 3 EtherCAT 23 11 3 1 Configuring the drive control unit 2...

Страница 4: ...st_Parameter TIA 50 11 6 Input values 50 12 Maintenance 51 13 Decommissioning disposal 51 14 RoHS declaration 52 15 REACH declaration 52 16 Declaration of Incorporation 53 17 Declaration of Conformity...

Страница 5: ...ing 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...

Страница 6: ...permission of the manufacturer Use of the product under extreme conditions such as aggressive fluids or abrasive dusts Additional drilled holes or threads Zimmer GmbH shall accept no liability for an...

Страница 7: ...lies into contact with plastics and parts of clothing that have plastic content Store electronic assemblies on conductive underlays only Do not install electronic assemblies in the vicinity of data ba...

Страница 8: ...a 110 230 V AC power supply The product is to be used as intended in enclosed rooms for temporary gripping handling and holding The product is not suitable for clamping workpieces during a machining p...

Страница 9: ...te axis position is lost after the voltage is shut off To use this absolute encoder as a 20 bit multiturn absolute encoder we recommend using the battery box contained in the scope of delivery of the...

Страница 10: ...e superordinate machine unit care must be taken during transport to ensure that no unexpected movements can occur Before commissioning the product and after transport check all power and communication...

Страница 11: ...Risk of injury due to objects being ejected Spring loaded components can jump out when installing or uninstalling the device NOTICE Installation may only be carried out by qualified personnel in accor...

Страница 12: ...straight pins to position the product on the mounting piece Mount the product on the mounting piece using the appropriate mounting screws 4 Mounting screw 5 Straight pins Zimmer GmbH Im Salmenkopf 5 7...

Страница 13: ...The cables that are used by Zimmer GmbH feature a minimum bending radius of 10 x the outer diameter This bending radius must not be undershot Freely suspended cables must be secured to prevent excessi...

Страница 14: ...INFORMATION Do not replace the battery when the control voltage is shut off Otherwise the absolute encoder position and thus the position reference of the axis will be lost Version PRM1 03V6 2600C D2...

Страница 15: ...product is operated under very high ambient temperatures and with fast clock cycles on an ongoing basis this might reduce its service life INFORMATION The cycle time must therefore be reduced as the...

Страница 16: ...neering is required for initial commissioning This setting can vary in other software versions Please consult the software manufacturer to learn how to use the software version available to you Zimmer...

Страница 17: ...in the Axis Status area 11 2 2 Reading out the firmware status NOTICE The firmware of the drive control unit and the parameter set must match INSTALLATION AND OPERATING INSTRUCTIONS GEH8000 DDOC00262...

Страница 18: ...menu click Electr Type Plate The firmware status is displayed Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 www zimmer group com INSTALLATION AND OPERATING INSTRUCTIONS GEH8000 DDOC...

Страница 19: ...iguration mode this message will not appear Follow the instructions in the message Click the Yes button The transfer of the parameter set to the drive control unit starts INFORMATION After the paramet...

Страница 20: ...are displayed in the window Click the Clear Error button to acknowledge the error messages 11 2 4 Moving the product in Easy Startup mode The product can be moved in Easy Startup mode as soon as it i...

Страница 21: ...ty Click the OK button The window with the notices closes The Jog and Jog buttons for manual movement of the product are displayed The window with the Drive OFF button for disabling the drive control...

Страница 22: ...to the middle position in jog mode via the IndraWorks Ds software The middle position is reached if both outer edges of the gripper fingers close flush Disable the release for the drive control unit R...

Страница 23: ...ce Search for the correct drive control unit using the IndraWorks Ds software see section Setting the IP address In the Configuration menu click Load The Load Parameters window opens Enable the option...

Страница 24: ...order to create the configuration in online and offline mode These device descriptions are the XML files with EtherCAT Slave Information ESI One XML file can contain multiple device descriptions The X...

Страница 25: ...8 0 125 SNM 255 255 255 0 Beckhoff CX 5130 Port X000 Ethernet IP 192 168 0 101 SNM 255 255 255 0 Beckhoff CX 5130 Port X001 EtherCAT IP 192 168 9 3 SNM 255 255 0 0 IndraDrive HSC01 1E X25 P1 IP 192 16...

Страница 26: ...lick System Click SysLibs Click the Tc2_Utilities Lib library The Tc2_Utilities Lib library is required for the function WORD_ TO_HEXSTR Click the OK button The Add Library window closes The Tc2_Utili...

Страница 27: ...r the drive control unit has been detected TwinCAT creates a new axis automatically INFORMATION In the example the target value positioning takes place in the drive control unit which means that neith...

Страница 28: ...O Click Devices Click Device 5 EtherCAT The window of the example project opens Click the EtherCAT tab Click the Advanced Settings button The Advanced Settings window opens Click EOE Support Activate...

Страница 29: ...ion field Enter the desired IP address in the IP Address field Enter the desired subnet mask in the Subnet Mask field Example 255 255 255 0 Enter the IP address of the EtherCAT master in the Default G...

Страница 30: ...sage closes After the activation the CX control system is set to Run Mode A message opens Click the OK button The message closes TwinCAT is restarted 11 3 3 3 Establishing an Ethernet connection Run t...

Страница 31: ...an Ethernet connection to the drive control unit is possible Start the IndraWorks Ds software Enter the IP address in the IndraWorks Ds software and the computer Click the Search button Found drive co...

Страница 32: ...plorer Click I O Click Devices Click Device 5 EtherCAT Click Device 1 IndraDrive The window of the example project opens Click the Startup tab Right click the main operating mode that you want to dele...

Страница 33: ...oject opens Click the Process Data tab Right click the PDO Content area In the context menu click Add New Item The Edit PDO Entry window opens Select the input parameter in the parameter category S 0...

Страница 34: ...e Process Data In AT tab Check the input parameters by clicking the links Signal Status Word and Signal Control Word The default bits signal status word and signal control word are already stored in t...

Страница 35: ...rd and signal control word are already stored in the included parameter set INSTALLATION AND OPERATING INSTRUCTIONS GEH8000 DDOC00262 e EN 2023 03 06 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany...

Страница 36: ...oup_Indradrive_EtherCat Project Click GVLs Click GVL_Axis_Structs The GVL_Axis_Structs Online window opens Click the example project in the Solution Explorer Click I O Click Devices Click Device 5 Eth...

Страница 37: ...Input window closes The arrow at the bottom in the icon tells you that variable linking was successful Activate the PLC Restart the drive control unit The changed parameters have been applied to the d...

Страница 38: ...riable declaration includes the instantiation of the function block FB_GEH8660_z The program section includes the call up of the instance fb_GEH8660 Link the hardware to the instance fb_GEH8660 Connec...

Страница 39: ...using the IndraWorks Ds software see section Setting the IP address The connection to the drive control unit is established In the Configuration menu click Load The Load Parameters window opens Enabl...

Страница 40: ...between the PLC and the drive control unit it is important that the data length of the process input map and process output map be configured correctly In this example project 18 byte inputs actual va...

Страница 41: ...ing Modes Drive Stop Click Operating Modes In the drop down menus select the operating modes In the drop down menu Main Operating Mode select the Drive controlled positioning via axis controller word...

Страница 42: ...it to the PLC Assign the drive control unit the IP address from the configuration To do this use the provided GSDML files or download the current Bosch Rexroth version INFORMATION In the example proje...

Страница 43: ...entered by default After successful transmission and transfer of the configuration there is a connection between the drive control unit and the PLC INSTALLATION AND OPERATING INSTRUCTIONS GEH8000 DDOC...

Страница 44: ...e PLC Data Types folder Go to the Templates folder and copy the function blocks FB_ GEH8660_z FB_Zimmer_Indradrive_DCP_z and FC_InPosReal_z Click the Program Modules folder Paste the copied function b...

Страница 45: ...les with the suffix b_ are binary command inputs outputs These can be controlled with a button for example and used for further signal processing Create a suitable structure at the inputs st_AxisData_...

Страница 46: ...he two variables of the data type UDT_AXIS_IN and UDT_AXIS_OUT NOTICE Make sure that the respective IP address is correct in the Address field The IP address was assigned previously during the hardwar...

Страница 47: ...ontrol unit and processes them The drive control unit can be configured by connecting outputs Transfer the required data so that the drive control unit can activate the motor INFORMATION In the exampl...

Страница 48: ...ive work position st_Parameter f_WorkPos_2 The prerequisite for this is that b_Power b_Automatic and b_Enabled AF are set to true and the function block is not currently processing any other commands...

Страница 49: ...entered for i_Velocity The value can be 0 100 of the maximum permitted speed of the product 11 5 12 i_AccDec The desired acceleration deceleration of the product can be entered for i_AccDec The value...

Страница 50: ...ntering 0 corresponds to the minimum value and 100 to the maximum value An entry of 0 300 for the torque is possible like in the drive control unit GEH8660 gear ratio 375 49 feed constant 3 1415 mm Va...

Страница 51: ...ven though the product is maintenance free as mentioned above perform a regular visual inspection to check for any corrosion damage or contamination Have maintenance work be performed by Zimmer Custom...

Страница 52: ...15 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...

Страница 53: ...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...

Страница 54: ...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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