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DDOC0021
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EN / 2020-08-15
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:
Gripper, electric, GEP5000/GED5000 series
8.1.2 Teaching-in the "TeachPosition"
The following work steps must be followed for teaching-in the gripper:
►
Bring the gripper jaws into the desired position.
Ö
For instance, by inserting a workpiece to be gripped.
►
Close the gripper by applying a signal at the PIN 1 input.
Ö
LED, error display lights up red
INFORMATION:
Important for handling the gripper!
The error display lights up because the gripper is not able to
reach its end position as a result of the inserted workpiece.
Ö
The gripper is not yet aware that there is a workpiece
located between the gripper fingers.
► Apply a signal at the control input (PIN 7 “Program/adjust workpiece”
or “Teach/Adjust”) for 0.5 to 3.0 seconds.
Ö
LED position display lights up green
INFORMATION:
Important for handling the gripper!
The position of the workpiece has been taught in to the gripper.
The error display (
) disappears during the next gripping movement of the gripper fingers.
8.1.3 Teaching-in the end positions
The end positions are confirmed by means of outputs PIN 2 (“WorkPosition”) and PIN 5 (“BasePosition”).
The confirmations of the end positions are also visualized via the LED display.
Ö
The end position sensing of the gripper is preset at the factory.
INFORMATION:
If necessary, end positions set at the factory can be re-set via an automatic traversing routine.
The following work steps must be followed for teaching-in the new end positions:
► A signal must be applied to the control input (PIN 7 “Program/adjust workpiece” or “Teach/
Adjust”) for at least 15 seconds.
Ö
The prerequisite is that the DIR signal is simultaneously set to "0".
►
After approximately 3 seconds, the traversing routine begins and is automatically completed
after 5 gripping cycles.
Important information:
NOTICE:
Non-compliance may result in property damage
If the DIR signal (control input, open/close gripper) is interrupted before the end of the traversing routine,
the procedure must be repeated because the end positions have not been correctly determined.
INFORMATION:
.
Important for handling the gripper!
The factory settings of the end positions are changed.
To restore the factory settings, the end positions must be taught in without gripper fingers and without a
workpiece!
