INSTALLATION AND OPERATING INSTRUCTIONS:
Gripper, pneumatically intelligent, GPP/GPD5000-IL series
3
Zimmer GmbH
●
Im Salmenkopf 5
●
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
DDOC00247 / d
EN / 2020-07-20
Content
1. Supporting documents .......................................................................................................................................................5
2. Safety notes .........................................................................................................................................................................5
3. Proper use ............................................................................................................................................................................6
4. Personnel qualification
.......................................................................................................................................................6
5. Product description .............................................................................................................................................................7
5.1 Possible applications ........................................................................................................................................................................................7
5.2 Forces and torques ...........................................................................................................................................................................................7
5.3 Type plate ..........................................................................................................................................................................................................7
6. Function ...............................................................................................................................................................................8
6.1 GPP5006/08/10IL .............................................................................................................................................................................................8
6.2 GPP5013/16/25IL .............................................................................................................................................................................................8
6.3 GPD5006/08/10IL ............................................................................................................................................................................................8
6.4 GPD5013/16/25IL ............................................................................................................................................................................................8
6.5 Gripping force safety device ............................................................................................................................................................................9
6.6 Verified configuration
........................................................................................................................................................................................9
6.7 Technical data .................................................................................................................................................................................................10
6.8 Protection classes ...........................................................................................................................................................................................10
6.9 LED display ......................................................................................................................................................................................................10
7. Installation ..........................................................................................................................................................................11
7.1 Safety notes .....................................................................................................................................................................................................11
7.2 General installation information .....................................................................................................................................................................11
7.3 Installing the GPP5006/08/10/13/16/25IL gripper .....................................................................................................................................12
7.4 Installing the GPD5006/08/10/13/16/25IL gripper .....................................................................................................................................13
7.5 Installing the power supply .............................................................................................................................................................................14
7.5.1 Installing the pneumatic system ....................................................................................................................................................................14
7.5.2 Installing the electrical system .......................................................................................................................................................................15
7.6 Installing the "IO-Link" .....................................................................................................................................................................................16
7.7 Static charge ...................................................................................................................................................................................................17
7.8 Heat dissipation...............................................................................................................................................................................................18
7.9 Influencing the position sensor
......................................................................................................................................................................18
7.10 Installing accessories .....................................................................................................................................................................................18
8. Commissioning ..................................................................................................................................................................19
8.1 Commissioning the "IO-Link" .........................................................................................................................................................................19
8.1.1 Process data ....................................................................................................................................................................................................19
8.1.2 Process data control system ..........................................................................................................................................................................20
8.1.3 IODD import ....................................................................................................................................................................................................20
8.2 "Handshake" data transfer method ................................................................................................................................................................21
8.2.1 "Initial commissioning" example parameters ................................................................................................................................................22
8.2.2 "Starting gripping movement" example parameters ....................................................................................................................................22
8.3 Parameters ......................................................................................................................................................................................................22
8.3.1 "ControlWord" parameter ...............................................................................................................................................................................22
8.3.2 "DeviceMode" parameter................................................................................................................................................................................24
8.3.3 "WorkpieceNo" parameter ..............................................................................................................................................................................25
8.3.4 "TeachPosition" parameter .............................................................................................................................................................................26
8.3.5 "PositionTolerance" parameter .......................................................................................................................................................................27
8.3.6 "StatusWord" parameter .................................................................................................................................................................................28
8.3.7 "Diagnosis" parameter ....................................................................................................................................................................................29
8.3.8 "ActualPosition" parameter ............................................................................................................................................................................29
8.3.9 End position sensing ......................................................................................................................................................................................30
8.4 Service parameters .........................................................................................................................................................................................30
8.4.1 "Status" 0x40 ...................................................................................................................................................................................................30
8.4.2 "Diagnostics" 0x41 ..........................................................................................................................................................................................30
