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11.4

Commissioning the GEP2000IL-00

11.5

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

WorkpieceNo

UINT8

TeachPosition

UINT16

GripForce

UINT8

PositionTolerance

UINT8

Control system

Gripper

Input

Output

Name

Data type

StatusWord

UINT16

Diagnosis

UINT16

ActualPosition

UINT16

INSTALLATION AND OPERATING INSTRUCTIONS:

GEP2000

DDOC01113 / b

EN / 2022-05-01

Zimmer GmbH • Im Salmenkopf 5 •



77866 Rheinau, Germany •



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

Содержание GEP2000IO-00

Страница 1: ...INSTALLATION AND OPERATING INSTRUCTIONS 2 jaw parallel grippers electric GEP2000IO 00 GEP2000IO 05 GEP2000IL 00 DDOC01113 THE KNOW HOW FACTORY www zimmer group com...

Страница 2: ...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 produ...

Страница 3: ...0IO 05 power supply 16 10 6 Installing the GEP2000IO 00 power supply 16 10 7 Static charge 17 10 8 Heat dissipation 17 10 9 Installing accessories 17 11 Commissioning 18 11 1 Restarting the GEP2000IO...

Страница 4: ...ble gripping force of GEP2000IL 00 38 12 4 Emergency release of GEP2000IL 00 38 13 Gripping force charts 38 14 Error diagnosis 39 14 1 Status in LED display for error GEP2000IL 00 41 14 2 Status in LE...

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: ...the following 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 Z...

Страница 7: ...sing a 24 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 t...

Страница 8: ...election 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...

Страница 9: ...f the gripper jaws and synchronize these movements Despite its small installation space the product is suited for gripping a wide range of form fit and frictional fit parts The product can be controll...

Страница 10: ...et 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 workpie...

Страница 11: ...and storage of the product must be done only with the original packaging If the product has already been installed on the superordinate machine unit care must be taken during transport to ensure that...

Страница 12: ...esent NOTICE 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 o...

Страница 13: ...unt the product 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...

Страница 14: ...1 2 3 4 5 1 2 3 4 1 2 3 4 2 3 4 5 Q10 1 2 3 4 5 6 1 2 3 4 5 6 Q11 1 2 3 4 5 6 1 2 3 4 5 6 Rk_1 Rk_2 R ckf hrkreis von Q10 Q11 KXX2 24V IN 24V OUT L A IN L A OUT X01 IO Link Master GND_Up 1 GND_Us 2 PE...

Страница 15: ...destruction of the product Be absolutely certain to ensure correct pin assignment Connect the power supply cable to the control system of the product 10 4 Installing the GEP2000IL 00 power supply pin...

Страница 16: ...er to prevent damage to the product the resistance between the analog output and GND must be at least 10 k 10 6 Installing the GEP2000IO 00 power supply pin Color Function Explanation 1 2 3 4 M8 4 pin...

Страница 17: ...he 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 product must always be mounted on material...

Страница 18: ...evel 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 in the op...

Страница 19: ...d workpiece movement standstill subsequent current feed workpiece loss detection NOTICE If the workpiece is lost the product moves to the end position INSTALLATION AND OPERATING INSTRUCTIONS GEP2000 D...

Страница 20: ...hen stays open The factory default settings are BasePosition and WorkPosition Teaching in the end position again prevents the product from being unnecessarily energized when it is in the end position...

Страница 21: ...he product Name Data type ControlWord UINT16 DeviceMode UINT8 WorkpieceNo UINT8 TeachPosition UINT16 GripForce UINT8 PositionTolerance UINT8 Control system Gripper Input Output Name Data type StatusWo...

Страница 22: ...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 t...

Страница 23: ...Base 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 Bit 10 Bit 9...

Страница 24: ...the TeachPosition in the selected WorkpieceNo This only works if there is no 0 that is transmitted in the workpiece number Bit 7 Adjust Setting this bit causes a readjustment of the jaw end positions...

Страница 25: ...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...

Страница 26: ...pped 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 INSTALLATION AND OPERAT...

Страница 27: ...he corresponding workpiece recipe is loaded in the product 11 8 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...

Страница 28: ...Level 1 2 Level 2 3 Level 3 4 Level 4 11 8 6 TeachPosition The TeachPosition notifies the product of the expected position of the workpiece The tolerance range around the expected position of the wor...

Страница 29: ...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...

Страница 30: ...o 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 between the BasePosition minimum values and the WorkPosit...

Страница 31: ...ripper jaw mm GEP2000IL 0 5 GEP2000IO 0 5 11 11 Easy Startup Describes the process from switching on the product to the initial movement Connect the product according to its assignment diagram The pro...

Страница 32: ...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...

Страница 33: ...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...

Страница 34: ...tatusWord Response of the product to transferred data ControlWord 0 Reset the ControlWord iStep 40 Jump to the next step END_IF 40 IF StatusWord 12 THEN Query for completion of the data transfer DataT...

Страница 35: ...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...

Страница 36: ...release if the energy supply drops off Please contact Zimmer Customer Service if you have any questions 12 1 Adjustable gripping force of GEP2000IO 05 and GEP2000IO 00 The gripping force can be adjus...

Страница 37: ...er failure 8 Remove the protective cap Actuate the emergency release with a corresponding Allen key Design size Wrench size mm GEP2006IO XX 1 5 GEP2010IO XX 1 5 GEP2013IO XX 1 5 GEP2016IO XX 2 0 8 Pro...

Страница 38: ...lure 8 Remove the protective cap Actuate the emergency release with a corresponding Allen key Design size Wrench size mm GEP2006IL 00 1 5 GEP2010IL 00 1 5 GEP2013IL 00 1 5 GEP2016IL 00 2 0 8 Protectiv...

Страница 39: ...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 t...

Страница 40: ...a 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 chang...

Страница 41: ...e run is being performed 14 2 Status in LED display for error GEP2000IO 05 and GEP2000IO 00 Green LED lights up continuously No error Red LED flashes every second Green LED lights up continuously Loss...

Страница 42: ...UINT8 Read 0 255 Reflection of the process data 0x0105 261 GripForce UINT8 Read 1 130 Reflection of the process data 0x0107 263 DriveVelocity UINT8 Read 1 100 Reflection of the process data 0x0108 26...

Страница 43: ...to factory settings using an IO Link factory reset 0x022f 559 Holding current UINT16 Read write 0 to 1100 Amperage for current after supply scaled to the maximum permitted current 0x0230 560 Holding...

Страница 44: ...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 45: ...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 group...

Страница 46: ...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 documents fo...

Страница 47: ...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...

Страница 48: ...ATION AND OPERATING INSTRUCTIONS 2 jaw parallel gripper electric robot specific GEP2006IO 12 B 01 GEP2010IO 12 B 01 GEP2013IO 12 B 01 GEP2016IO 12 B 01 DDOC01113 01 THE KNOW HOW FACTORY www zimmer gro...

Страница 49: ...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 produ...

Страница 50: ...Personnel qualification 6 5 Product description 7 6 Functional description 7 7 Installing the product 7 7 1 Installing the energy supply 7 7 2 Installing the wiring 8 INSTALLATION AND OPERATING INSTR...

Страница 51: ...GER 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 the described measures for...

Страница 52: ...the following 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 Z...

Страница 53: ...sing a 24 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 t...

Страница 54: ...DOC01113 Please contact Zimmer Customer Service if you have any questions 7 1 Installing the energy supply NOTICE The cables that are used by Zimmer GmbH feature a minimum bending radius of 10 x the o...

Страница 55: ...24 V voltage level 8 Red GND 0 V DC supply voltage CAUTION Non compliance may result in material damage Incorrect pin assignment can lead to malfunction or destruction of the product Be absolutely ce...

Страница 56: ...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 between...

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