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11 Commissioning

11.1

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

Reserve

UINT8

PositionTolerance

UINT8

GripForce

UINT8

DriveVelocity

UINT8

BasePosition

UINT16

Reserve

UINT16

TeachPosition

UINT16

WorkPosition

UINT16

Control system

Gripper

Input

Output

Name

Data type

StatusWord

UINT16

Diagnosis

UINT16

ActualPosition

UINT16

INSTALLATION AND OPERATING INSTRUCTIONS:

GEP2000IL-03

DDOC01219 / b

EN / 2021-12-20

Zimmer GmbH • Im Salmenkopf 5 •



77866 Rheinau, Germany •



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

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Содержание GEP2006IL-03

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

Страница 2: ...irections 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...

Страница 3: ...energy supply 15 10 4 Installing the GEP2000IL 03 power supply 15 10 5 Static charge 16 10 6 Heat dissipation 16 10 7 Installing accessories 16 11 Commissioning 17 11 1 Process data 17 11 2 IODD Impo...

Страница 4: ...4 Error diagnosis 36 14 1 Status in LED display for error GEP2000IL 03 38 15 Table with acyclic data ISDU 39 16 Maintenance 41 17 Decommissioning disposal 41 18 RoHS declaration 42 19 REACH declaratio...

Страница 5: ...g 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 ca...

Страница 6: ...he 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 Zim...

Страница 7: ...ng 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 tem...

Страница 8: ...ection 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 Mo...

Страница 9: ...s 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 You can optionally adjust the gripping force...

Страница 10: ...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 workpiece...

Страница 11: ...d 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 no...

Страница 12: ...qualified personnel in accordance with these installation and operating instructions Switch off the power supply before any assembly installation or maintenance work Install the product on an appropr...

Страница 13: ...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 tho...

Страница 14: ...5 6 1 2 3 4 5 6 Rk_1 Rk_2 KXX2 24V IN 24V OUT L A IN L A OUT X01 GND_Up 1 GND_Us 2 PE 3 Us 4 Up 5 GND_Up 1 GND_Us 2 PE 3 Us 4 Up 5 Tx 1 Rx 2 Rx 3 Tx 4 Tx 1 Rx 2 Rx 3 Tx 4 L 1 P24 2 L 3 C Q 4 N24 5 21...

Страница 15: ...wer supply cable to the control system of the product 10 4 Installing the GEP2000IL 03 power supply pin Color Function Explanation 3 2 1 4 5 M12 5 pin plug 1 Brown 24 V DC sensor IO Link communication...

Страница 16: ...n 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 on...

Страница 17: ...UINT8 WorkpieceNo UINT8 Reserve UINT8 PositionTolerance UINT8 GripForce UINT8 DriveVelocity UINT8 BasePosition UINT16 Reserve UINT16 TeachPosition UINT16 WorkPosition UINT16 Control system Gripper Inp...

Страница 18: ...cond 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 tim...

Страница 19: ...this bit is set the product accepts the data transferred in the process data Bit 1 WritePDU Setting this bit tells the product that it should write the current process data to the selected workpiece...

Страница 20: ...sequent current feed for a time of 500 ms when the direction of movement is Base To achieve the best gripping results the gripped workpiece must be transported further during the subsequent current fe...

Страница 21: ...on does 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 issu...

Страница 22: ...ipForce Desired gripping force TeachPosition Expected position of the workpiece PositionTolerance Permitted tolerance for the workpiece DriveVelocity Opening speed Since gripping should occur in one d...

Страница 23: ...this position 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 towar...

Страница 24: ...corresponding 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 s...

Страница 25: ...ical Value 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 s...

Страница 26: ...the control system of whether the desired workpiece has been gripped The user can monitor this work step with the Teach bit Use the following values Product BasePosition WorkPosition TeachPosition GEP...

Страница 27: ...t switch 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 ru...

Страница 28: ...e if the last motion task was carried out toward BasePosition Bit 14 ControlWord 0x0200 This bit is a direction flag Active if the last motion task was carried out toward WorkPosition Bit 15 Error Act...

Страница 29: ...urrent 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 WorkPosition max...

Страница 30: ...initial movement Connect the product according to its assignment diagram The product reports the process parameters StatusWord Diagnosis and ActualPosition immediately after the internal controller is...

Страница 31: ...ed PositionTolerance 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...

Страница 32: ...rection 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...

Страница 33: ...rOK 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 StatusWord 12 THEN Query for completion of the data...

Страница 34: ...tatusWord 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 St...

Страница 35: ...ency release The product features an emergency 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...

Страница 36: ...y does 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 ControlWor...

Страница 37: ...ata 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 cha...

Страница 38: ...n LED does not 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...

Страница 39: ...NT8 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 264 B...

Страница 40: ...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 maximum permitted current 0x0230 560 Holding tim...

Страница 41: ...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 Customer...

Страница 42: ...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 43: ...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 44: ...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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