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INSTALLATION AND

OPERATING

INSTRUCTIONS

2-jaw parallel grippers electric

GEP2000IL-03 series

GEP2000IL-43 series

DDOC01219

THE KNOW-HOW FACTORY

www.zimmer-group.com

Содержание GEP2000IL-43 Series

Страница 1: ...INSTALLATION AND OPERATING INSTRUCTIONS 2 jaw parallel grippers electric GEP2000IL 03 series GEP2000IL 43 series DDOC01219 THE KNOW HOW FACTORY www zimmer group com...

Страница 2: ...ns 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 product to the...

Страница 3: ...16 10 5 Heat dissipation 16 10 6 Installing accessories 16 11 Commissioning 17 11 1 Process data 17 11 2 IODD Import 18 11 3 Handshake Data Transfer Method 18 11 4 Parameters 19 11 4 1 ControlWord 19...

Страница 4: ...display for error 39 15 Table with acyclic data ISDU 40 16 Maintenance 42 17 Decommissioning disposal 42 18 RoHS declaration 43 19 REACH declaration 43 20 Declaration of Incorporation 44 21 Declarati...

Страница 5: ...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 cause ser...

Страница 6: ...owing examples require the written permission of the manufacturer Use of the product under extreme conditions such as aggressive fluids or abrasive dusts Additional drilled holes or threads Zimmer Gmb...

Страница 7: ...V DC power supply The product must always be mounted on materials that dissipate heat The product is intended for industrial use The product is to be used as intended in enclosed rooms for temporary...

Страница 8: ...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 MoveToBas...

Страница 9: ...ynchronize these movements Despite its small installation space the product is suited for gripping a wide range of form fit and frictional fit parts You can optionally adjust the gripping force to the...

Страница 10: ...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 workpiece remain...

Страница 11: ...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 product is...

Страница 12: ...OTICE Installation may only be carried out by qualified personnel in accordance with these installation and operating instructions Switch off the power supply before any assembly installation or maint...

Страница 13: ...roduct on the mounting piece using the appropriate mounting screws 6 Mounting screw 7 Centering Disc INFORMATION Use an adapter plate if necessary For information on optional accessories and those inc...

Страница 14: ...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 F1 2 1...

Страница 15: ...the power supply cable to the control system of the product 10 3 1 Pin assignment pin Color Function Explanation 3 2 1 4 5 M12 5 pin plug 1 Brown 24 V DC sensor IO Link communication supply 2 White 24...

Страница 16: ...vent 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 ongoing b...

Страница 17: ...orkpieceNo UINT8 Reserve UINT8 PositionTolerance UINT8 GripForce UINT8 DriveVelocity UINT8 BasePosition UINT16 Reserve UINT16 TeachPosition UINT16 WorkPosition UINT16 Control system Gripper Input Outp...

Страница 18: ...te 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 time of 5...

Страница 19: ...Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 2 Teach ResetDirec tionFlag WritePDU DataTransfer Bit 0 DataTransfer Setting this bit causes the product to acquire the data transmitted in the pro...

Страница 20: ...t tells the product to move toward the BasePosition Bit 9 MoveToWork Setting this bit tells the product to move toward the WorkPosition Bit 10 JogToWork Setting this bit in the ControlWord puts the pr...

Страница 21: ...100 but with an activated subsequent current feed for a time of 500 ms in both directions To achieve the best gripping results the gripped workpiece must be transported further during the subsequent c...

Страница 22: ...not have any significance in this mode because the BasePosition or WorkPosition is always approached precisely If the product encounters an obstacle in this mode while moving it stops and issues an e...

Страница 23: ...e Desired gripping force TeachPosition Expected position of the workpiece PositionTolerance Permitted tolerance for the workpiece DriveVelocity Opening speed Since gripping should occur in one directi...

Страница 24: ...osition or the workpiece is reached 0x0200 63 Move toward the BasePosition to open the product 0x0100 Mode Group 70 typically used for inside gripping DeviceMode Action ControlWord 73 Move toward the...

Страница 25: ...ponding workpiece recipe is loaded in the product 11 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 to set a m...

Страница 26: ...lue range 1 Level 1 2 Level 2 3 Level 3 4 Level 4 11 4 6 DriveVelocity The product can work at various movement speeds for an optimized process sequence This parameter determines the movement speed of...

Страница 27: ...ser can monitor this work step with the Teach bit Use the following values Product BasePosition WorkPosition TeachPosition GEP2006IL 03 0 1200 0 to max 1200 GEP2006IL 43 0 2000 0 to max 2000 GEP2010IL...

Страница 28: ...ch it on off manually Bit 2 InMotion This bit is active during the run Bit 3 MovementComplete This bit is active after the movement is complete Bit 4 JogBaseActive Confirmation during the Jog run in t...

Страница 29: ...format UINT16 Permission Read Transfer Cyclical Value range 0 65535 11 4 10 1 Acknowledging an error If the product has a fault the error bit is set in the status word Acknowledge the error by sendin...

Страница 30: ...GEP2010IL 43 0 2600 0 to max 2600 0 05 GEP2013IL 03 0 2600 0 to max 2600 0 1 GEP2013IL 43 0 3200 0 to max 3200 0 1 GEP2016IL 03 0 3200 0 to max 3200 0 1 GEP2016IL 43 0 4000 0 to max 4000 0 1 Name Act...

Страница 31: ...scribes the process from switching on the product to the initial movement Connect the product according to its assignment diagram The product reports the process parameters StatusWord Diagnosis and Ac...

Страница 32: ...tionTolerance 50 GripForce 4 Gripping force setting BasePosition 100 TeachPosition 1200 WorkPosition 1200 ControlWord 1 Data transfer to the product iStep 20 Jump to the next step END_IF 20 IF StatusW...

Страница 33: ...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 in Structu...

Страница 34: ...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 StatusWord 12 THEN Query for completion of the data tran...

Страница 35: ...ord 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 StatusWo...

Страница 36: ...rgency release that can be mechanically opened with an Allen key in the event of a power failure bn Remove the protective cap Actuate the emergency release with a corresponding Allen key Design size W...

Страница 37: ...not match the gripped workpiece Workpiece is too heavy Check the required gripping force Check the gripper finger geometry Reset the error by sending another move command back 0x0300 ControlWord is n...

Страница 38: ...e 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 changed Mo...

Страница 39: ...t light up Process data are invalid Internal error Red LED flashes every second Green LED flashes every second at the same time No reference position A reference run must be performed Red LED flashes...

Страница 40: ...he 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 Read 1 130...

Страница 41: ...ition 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 to the max...

Страница 42: ...les 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 temperature range...

Страница 43: ...tner 19 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 g...

Страница 44: ...that 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 docu...

Страница 45: ...y of 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...

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