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Zimmer GmbH

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Im Salmenkopf 5

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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 INSTRUCTIONS:

2-jaw parallel gripper, electric, GEP2000IL-03 series

EN / 2021-06-25

DDOC01219 / a

8.3 Parameters

8.3.1 "ControlWord" parameter

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.

Parameters

Decimal value

Hexadecimal value

Data transfer

0x1

WritePDU

0x2

ResetDirectionFlag

0x4

Teach

0x8

MoveToBase

256

0x100

MoveToWork

512

0x200

JogToWork "+"

1024

0x400

JogToBase "-"

2048

0x800

ErrorReset

32768

0x8000

Name

"ControlWord"

Data format

UINT16

Permission

Write

Transfer

Cyclical

Value range

0 to 65535

"ControlWord" structure:

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

Byte 1

"ErrorReset"

"JogToBase"

"JogToWork"

"MoveToWork" "MoveToBase"

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Byte 2

"Teach"

"ResetDirec-

tionFlag"

"WritePDU"

"DataTransfer"

Содержание GEP2006IL-03-B

Страница 1: ...www zimmer group de INSTALLATION AND OPERATING INSTRUCTIONS GEP2000IL 03 2 jaw parallel gripper electric DDOC01219 THE KNOW HOW FACTORY...

Страница 2: ...tolerance 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...

Страница 3: ...roduct 12 7 3 Installing the power supply 12 7 4 Installing the power supply of GEP2000IL 03 13 7 4 1 Installing the wiring 13 7 5 Static charge 13 7 6 Heat dissipation 13 7 7 Installing accessories 1...

Страница 4: ...es Load recipe 32 9 Operation 33 9 1 IO Link adjustable gripping force 33 9 2 Emergency release 33 10 Gripping force charts 33 11 Error diagnosis 34 11 1 Troubleshooting display 34 12 Table with acycl...

Страница 5: ...nent 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 avoiding these dangers The warni...

Страница 6: ...iability for any damage caused by improper use The operator bears sole responsibility Installation commissioning maintenance and repairs may only be performed by qualified specialists in accordance wi...

Страница 7: ...are being gripped can no longer be securely gripped and transported NOTICE To ensure that the gripper jaws do not get deformed make sure that the configuration of the gripping force and the selection...

Страница 8: ...e of the motor is transmitted over a worm drive Racks and a pinion generate the movement of the gripper jaws and synchronize these movements Despite its small installation space the product is suited...

Страница 9: ...nication cm Error cl cm 6 2 Electrical specifications INFORMATION For electrical specifications please refer to our website at www zimmer group com This data varies within the series depending on the...

Страница 10: ...mer Service if you have any questions 6 5 Self locking mechanism INFORMATION The product has a mechanical self locking mechanism to ensure that the workpiece remains held by the product in the event o...

Страница 11: ...y in the event of uncontrolled 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 u...

Страница 12: ...ion the product on the designated mounting piece using the centering sleeves bl Use the mounting screws bm to secure the product onto the mounting piece Use an adapter plate as needed For information...

Страница 13: ...charge NOTICE Material damage in case of non compliance Grounding the product is recommended if ESD sensitive parts come into contact with the product Grounding is also recommended in applications tha...

Страница 14: ...option exists for the gripper to be controlled only by the process data transmitted in each cycle Outputs Process data from the IO Link master to the gripper Name Data type ControlWord UINT 16 DeviceM...

Страница 15: ...ystem Go to our website Select the desired product and download the corresponding zip file via Download IODD Link The zip file is required for importing into the control system INFORMATION It is manda...

Страница 16: ...he following table are valid Parameters Decimal value Hexadecimal value Data transfer 1 0x1 WritePDU 2 0x2 ResetDirectionFlag 4 0x4 Teach 8 0x8 MoveToBase 256 0x100 MoveToWork 512 0x200 JogToWork 1024...

Страница 17: ...iece recipes Bit 3 Teach Setting this bit tells the product to save the current position as the TeachPosition in the selected WorkpieceNo This only works if there is no 0 that is transmitted in the wo...

Страница 18: ...direction of movement is Base To achieve the best gripping results the gripped workpiece should be transported further during the time of the subsequent current feed 103 Universal operation with subs...

Страница 19: ...rameters Description BasePosition Open position WorkPosition Closed position GripForce Not used TeachPosition Not used PositionTolerance Not used DriveVelocity Movement speed The movement speed is con...

Страница 20: ...BasePosition 1 100 mm 0 Point WorkPosition 1 100 mm TeachPosition PositionTolerance Parameters Description BasePosition Open position WorkPosition Closed position behind the workpiece GripForce Desire...

Страница 21: ...Position for max position see Section Parameter WorkPosition 70 73 inside gripping BasePosition 0 Group 60 typically used for outside gripping DeviceMode Action ControlWord 63 Move toward the WorkPosi...

Страница 22: ...cipe examples Store recipe and Load recipe With a value 0 the corresponding workpiece recipe is loaded in the gripper Name WorkpieceNo Data format UINT8 Permission Write Transfer Cyclical Value range...

Страница 23: ...site www zimmer group com This data varies within the series depending on the specific design Please contact Zimmer Customer Service if you have any questions Name GripForce Data format UINT8 Permissi...

Страница 24: ...e PositionTolerance functions around this position Thus the gripper can distinguish whether a correct or incorrect workpiece has been gripped Confir mation that the correct workpiece has been gripped...

Страница 25: ...on during the Jog run in the direction of BasePosition Bit 5 JogWorkActive Confirmation during the Jog run in the direction of WorkPosition Bit 6 GripperPLCActive This bit is active as soon as the gri...

Страница 26: ...user must check whether valid process data is being sent to the gripper Some faults are self acknowledging such as the overheating fault INFORMATION We recommend using the StatusWord to verify correc...

Страница 27: ...rkPosition maximum values Product BasePosition WorkPosition TeachPosition Accuracy GEP2006IL 03 0 1200 0 to max 1200 0 05 mm GEP2010IL 03 0 2000 0 to max 2000 0 05 mm GEP2013IL 03 0 2600 0 to max 2600...

Страница 28: ...5 mm per gripper jaw GEP2010IL 03 0 5 mm per gripper jaw GEP2013IL 03 0 5 mm per gripper jaw GEP2016IL 03 0 5 mm per gripper jaw 8 6 Easy Startup From switching on the gripper to the initial movement...

Страница 29: ...next step END_IF 20 IF StatusWord 12 THEN Queries the DataTransferOK bit in the StatusWord ControlWord 0 Reset the initialization iStep 30 Jump to the next step END_IF 30 IF NOT StatusWord 12 THEN De...

Страница 30: ...irection flags The direction flag is reset when the gripper answers with Statusbit 13 AND 14 FALSE A schematic program example for multiple movements in the same direction is shown in the following Mu...

Страница 31: ...next step 20 ControlWord 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 gripper...

Страница 32: ...SE iStep 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 Qu...

Страница 33: ...supply drops off Please contact Zimmer Customer Service if you have any questions 9 1 IO Link adjustable gripping force For the IO Link variant the gripping force is adjusted conveniently by means of...

Страница 34: ...not sufficient Workpiece was not gripped correctly Finger geometry does not match the gripped workpiece Workpiece is too heavy Check the required gripping force Check the finger geometry Error can be...

Страница 35: ...veVelocity not transferred Process data sent by the master has been changed Confirm the newly transmitted process data with a Handshake ControlWord 0x1 0x30F TeachTolerance not trans ferred Process da...

Страница 36: ...4294967295 Current numbers of cycles 0x43 67 Temperature UINT16 Read 0 to 100 C Current temperature 0x44 68 ControlWord UINT16 Read 0 to 65535 Reflection of the process data 0x45 69 Error code STRING...

Страница 37: ...BasePosition to the outside Subindex 2 from BasePosition to the inside Subindex 3 from WorkPosition to the inside Subindex 4 from WorkPosition to the outside 0x22f 559 Holding current UINT16 Read writ...

Страница 38: ...al replacement to be carried out by Zimmer Customer Service Dismantling and reassembling the product without authorization may result in complications as special installation equipment is required in...

Страница 39: ...can be completely disassembled and disposed of Completely disconnect the product from the power supply The product can be disassembled and properly disposed of according to material groups When dispos...

Страница 40: ...l 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 Partner 18 REACH...

Страница 41: ...1 2 No 1 1 3 No 1 1 5 No 1 3 2 No 1 3 4 No 1 3 7 No 1 5 1 No 1 5 4 No 1 6 4 No 1 7 1 No 1 7 3 A full list of applied standards can be obtained from the manufacturer We also declare that the specific t...

Страница 42: ...to 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 2...

Страница 43: ...mbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com INSTALLATION AND OPERATING INSTRUCTIONS 2 jaw parallel gripper electric GEP2000IL 03 series EN 2021 06 25...

Страница 44: ...Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com 44 INSTALLATION AND OPERATING INSTRUCTIONS 2 jaw parallel gripper electric GEP2000IL 03 series EN 2021 06 25...

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