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12.4 Parameters
12.4.1 ControlWord

NOTICE

In the ControlWord parameter, only one single bit or the value 0 may be set at a time. Only the values listed in the

following table are valid.

Parameter

Decimal value

Hexadecimal value

DataTransfer

0x0001

WritePDU

0x0002

ResetDirectionFlag

0x0004

Teach

0x0008

Adjust

128

0x0080

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

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

Zimmer GmbH • Im Salmenkopf 5 •



77866 Rheinau, Germany •



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

INSTALLATION AND OPERATING INSTRUCTIONS:

GEP2000

DDOC01113 / c

EN / 2022-11-16

Содержание GEP2000IO-45

Страница 1: ...INSTALLATION AND OPERATING INSTRUCTIONS 2 jaw parallel grippers electric GEP2000IO 00 GEP2000IO 05 GEP2000IO 45 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: ...00IO 00 16 10 6 Pin assignment GEP2000IL 00 16 10 7 Static charge 17 10 8 Heat dissipation 17 10 9 Installing accessories 17 11 Commissioning for GEP2000IO 00 GEP2000IO 05 GEP2000IO 45 18 11 1 Restart...

Страница 4: ...g force GEP2000IL 00 37 13 4 Emergency release of GEP2000IL 00 37 14 Gripping force charts 37 15 Error diagnosis 38 15 1 Status in LED display for error GEP2000IO 40 15 2 Status in LED display for err...

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: ...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...

Страница 12: ...present 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...

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: ...V1 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 P...

Страница 15: ...system of the product 10 4 Pin assignment GEP2000IO 05 GEP2000IO 45 pin Color Function Explanation 1 2 4 3 5 M8 5 pin plug 1 Brown 24 V DC 24 V DC supply voltage 2 White MoveToBase command Digital inp...

Страница 16: ...jaw movement is triggered by a voltage level between PIN 2 or PIN 4 10 6 Pin assignment GEP2000IL 00 pin Color Function Explanation 3 2 1 4 5 M12 5 pin plug 1 Brown 24 V DC sensor IO Link communicati...

Страница 17: ...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...

Страница 18: ...urs 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 opposite direction Observe a break time of...

Страница 19: ...t The product opens and closes several times and then stays open The factory default settings are BasePosition and WorkPosition Teaching in the end position again prevents the product from being unnec...

Страница 20: ...e product Name Data type ControlWord UINT16 DeviceMode UINT8 WorkpieceNo UINT8 TeachPosition UINT16 GripForce UINT8 PositionTolerance UINT8 Control system Gripper Input Output Name Data type StatusWor...

Страница 21: ...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 22: ...80 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 Bit...

Страница 23: ...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 t...

Страница 24: ...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 25: ...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 26: ...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...

Страница 27: ...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 range around the expected position of the wor...

Страница 28: ...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 29: ...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 30: ...per gripper jaw mm GEP20XXIL 00 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 r...

Страница 31: ...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 32: ...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 i...

Страница 33: ...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...

Страница 34: ...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 35: ...e emergency release if the energy supply drops off Please contact Zimmer Customer Service if you have any questions 13 1 Setting the gripping force GEP2000IO The gripping force can be adjusted in four...

Страница 36: ...bn 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 bn Protective c...

Страница 37: ...re bn 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 bn Protectiv...

Страница 38: ...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 39: ...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 40: ...erformed 15 2 Status in LED display for error GEP2000IL 00 Green LED lights up continuously No error Red LED flashes every second Green LED lights up continuously No IO Link communication Red LED ligh...

Страница 41: ...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...

Страница 42: ...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...

Страница 43: ...10 million 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 Ambient temperat...

Страница 44: ...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...

Страница 45: ...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 for...

Страница 46: ...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...

Страница 47: ...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 48: ...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 49: ...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 50: ...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 51: ...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 52: ...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 53: ...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 54: ...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 55: ...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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