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INSTALLATION AND OPERATING INSTRUCTIONS:

Gripper, pneumatically intelligent, GPP/GPD5000-IL series

Zimmer GmbH

●

Im Salmenkopf 5

●



77866 Rheinau, Germany

●



+49 7844 9138 0

●



+49 7844 9138 80

●

www.zimmer-group.com

DDOC00247 / d

EN / 2020-07-20

Error code Error

Possible cause

Measure

0x0307

Movement order cannot be execut-

ed.

• Multiple move commands in the

same direction

• Move command transferred de-

spite existing error

►

Reset the direction flag ("ResetDi

rectionFlag" in the "ControlWord")

and resend the move command

0x0308

Workpiece number not available.

• Transmitted workpiece number

is outside the permitted range 0

to 32

•

Modified process data has not

been taken over

►

Check the transmitted process

data

►

Apply the process data via a

"handshake"

0x0309

"TeachPosition" does not corre-

spond to the active value in the

gripper.

• Process data sent by the master

has been changed

►

Confirm the newly transferred

process data with a "handshake" -

"ControlWord" = 0x1

0x030F

The "TeachPosition" tolerance does

not correspond to the active value in

the gripper.

• Process data sent by the master

has been changed

►

Confirm the newly transferred

process data with a "handshake" -

"ControlWord" = 0x1

0x0310

"DeviceMode" sent by the master

does not correspond to the active

value in the gripper.

• Process data sent by the master

has been changed

►

Confirm the newly transferred

process data with a "handshake" -

"ControlWord" = 0x1

0x0311

The workpiece number sent by the

master does not correspond to the

active value in the gripper.

• Process data sent by the master

has been changed

►

Confirm the newly transferred

process data with a "handshake" -

"ControlWord" = 0x1

0x0312

Initial status after a gripper restart

• After a cold boot, a one-time data

transfer via "ControlWord" = 1

must be performed

►

Confirm the newly transferred

process data with a "handshake" -

"ControlWord" = 0x1

0x0404

Gripper jaw hall sensor error

• Malfunction of the integrated

position sensor

►

Check whether the sensor is

being influenced by an external

magnetic field

►

Ensure the necessary distance

between the sensor and ferro-

magnetic materials

►



Zimmer Customer Service

Содержание GPP5000IL Series

Страница 1: ...INSTALLATION AND OPERATING INSTRUC TIONS 2 jaw parallel gripper 3 jaw concentric gripper GPP GPD5000 IL series DDOC00247 THE KNOW HOW FACTORY www zimmer group com...

Страница 2: ...al grippers this can also be the standby position PositionTolerance This is the tolerance window for the TeachPosition The value of the parameter acts in both directions BasePosition The BasePosition...

Страница 3: ...r 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...

Страница 4: ...x103 32 8 4 13 PositionTolerance 0x104 32 8 4 14 Current operating pressure 0x110 33 8 4 15 Bottom pressure switch 0x111 33 8 4 16 Top pressure switch 0x112 33 8 4 17 PressureHysteresis 0x113 33 8 4 1...

Страница 5: ...ons are not observed 3 The gripper may be used only in accordance with its proper use and technical data Zimmer GmbH shall accept no liability for any damage caused by improper use 4 Any use other tha...

Страница 6: ...itted Unauthorized electrical or mechanical modifications must not be made The gripper is designed exclusively for pneumatic electric operation using a supply voltage of 24 V DC and a maximum operatin...

Страница 7: ...e gripping Inside gripping The gripper can be used for inside gripping 5 2 Forces and torques INFORMATION For information on forces and torques please visit our website Zimmer Customer Service is avai...

Страница 8: ...Integrated valve technology 6 Steel linear guide 7 Double lip seal 8 Gripper jaws 9 Integrated gripping force safety device spring variant bl Integrated control module 6 2 GPP5013 16 25IL For these i...

Страница 9: ...Customer Service is available to provide assistance if you have any further questions GPP GPD5000IL Without spring N S With spring NC NO SC SO Pressure failure Actuator voltage present Without pressu...

Страница 10: ...er questions 6 8 Protection classes NOTICE The gripper achieves protection class IP64 in all mounted positions of installation Ventilation R S If the environment is dirty replace filters with exhaust...

Страница 11: ...pected movement of the machine or system into which the gripper is to be installed Switch off the power supply to the machine or the system before all work Secure the machine or system from being swit...

Страница 12: ...5006 08 10 13 16 25IL gripper The gripper can be installed from multi ple sides Either directly on the gripper or on the mounting piece The following work steps must be ob served during installation I...

Страница 13: ...ing the GPD5006 08 10 13 16 25IL gripper The gripper can be installed from multi ple sides Either directly on the gripper or on the mounting piece The following work steps must be ob served during ins...

Страница 14: ...nnection P Compressed air INFORMATION Refer to the technical data sheet for alternative connections The authorized pneumatic connections that are available can be found in the accessories list availab...

Страница 15: ...supply cable to the gripper and the control system You can find the corresponding sup ply cable on our website INFORMATION The cables that are used by Zimmer GmbH feature a minimum bending radius of...

Страница 16: ...sequence To determine whether a byte swap is necessary you can view bit 6 GripperPLCActive in the StatusWord For this purpose it is necessary to determine whether bit 6 is active in the first or secon...

Страница 17: ...vement command is executed to the maximum possible position INFORMATION Refer to the description of the StatusWord for more information concerning this 7 7 Static charge The movement of the gripper ja...

Страница 18: ...igure depicts an area in which no magnets or components with ferromag netic properties may be attached This can have a significant influence on the accuracy of the position sensor and or result in a m...

Страница 19: ...IO Link commissioning 8 1 1 Process data The option exists for the gripper to be controlled only by the process data transmitted in each cycle Name Data type ControlWord UINT 16 DeviceMode UINT 8 Work...

Страница 20: ...tolerance If these values have been entered in the process data a 1 can be written in the ControlWord to tell the gripper again that these values are to be accepted into the currently valid data set...

Страница 21: ...by means of Statusbit 12 TRUE data transfer OK Following this the ControlWord 0 can be sent which ends the data transfer The operator automatically concludes the data transfer with the ControlWord 0x...

Страница 22: ...3 The gripper then reports its operational readiness with DiagnosisWord 0x00 8 2 2 Starting gripping movement example parameters The gripper receives the move command by sending the ControlWord 0x0100...

Страница 23: ...ctionFlag Setting this bit informs the gripper that the direction flag needs to be reset This makes a repeated movement to a position possible This is logical during a switchover of workpiece recipes...

Страница 24: ...ligent GPP GPD5000 IL series 8 3 2 DeviceMode parameter The universal operation drive mode can be selected using DeviceMode DeviceMode Function 2 Shut off the valves 100 Universal mode 109 Ignore posi...

Страница 25: ...eceNo 3 must be transmitted in the workpiece number of the process data Name WorkpieceNo Data format UINT8 Permission Write Transfer Cyclical Value range 0 to 32 Index Name Data format Access right Va...

Страница 26: ...Teach bit is set thereby giving the user the option to monitor this work step By means of the position measuring system it is possible to achieve a TeachPosition accuracy of 0 05 mm The following val...

Страница 27: ...ntry is in mm 100 and has the same effect in the direction and direction INFORMATION All transmitted process data must be acquired using the ControlWord 0x01 DataTransfer Name PositionTolerance Data f...

Страница 28: ...essful data transfer which is initiated with the ControlWord 1 DataTransfer Once the data from the gripper has been taken over by the parameter ControlWord 1 decimal this bit is active Bit 13 ControlW...

Страница 29: ...es and the WorkPosition maximum values With the position measuring system it is possible to achieve a position accuracy of 0 05 mm Product Stroke per gripper jaw BasePosition WorkPosition TeachPositio...

Страница 30: ...2048 for at least 2 seconds in the ControlWord It is a requirement that there are no additional bits set in the ControlWord If this bit is canceled before the end of the traversing routine the proced...

Страница 31: ...he current ControlWord of the electronics of the gripper Name ControlWord Data format UINT16 Permission Read Transfer Acyclical 8 4 6 ErrorCode 0x45 This parameter can be used to read out the fault st...

Страница 32: ...4 10 TeachPosition 0x101 This parameter can be used to read out the TeachPosition of the gripper that is currently being transmitted Name TeachPosition Data format UINT16 Permission Read Transfer Acy...

Страница 33: ...an be used to define the maximum operating pressure of the gripper in increments of 0 1 bar above which a diag nostic message is output Name High Pressure Error Threshold Data format UINT16 Permission...

Страница 34: ...n be used to adjust the threshold of the movement detection Name MovementThreshold Data format UINT16 Permission Read write Transfer Acyclical 8 4 20 HallErrorThreshold 0x118 This can be used to set t...

Страница 35: ...INT32 Read Acyclical 0x43 SystemTemperature INT16 Read Acyclical 0x44 ControlWord UINT16 Read Acyclical 0x45 ErrorCode STRING Read Acyclical 0x46 ErrorCounter UINT32 Read Acyclical 0x47 OperationCount...

Страница 36: ...is not con nected Operating pressure of the device is too low Check the pressure supply 0x0105 Operating pressure too high Maximum operating pressure exceeded Operating pressure of the device is too...

Страница 37: ...1 0x030F The TeachPosition tolerance does not correspond to the active value in the gripper Process data sent by the master has been changed Confirm the newly transferred process data with a handshake...

Страница 38: ...lements sensors etc Proven technology Methods in accordance with ISO 139491 Annex C C 2 Methods of good engineering practice MTTFd value 150 years Failure of spring 4 on the safe side No safety functi...

Страница 39: ...be liable in the event of unauthorized dismantling and reassembling of the gripper or in the event of any malfunction or damage resulting from this 15 Transportation storage preservation The transport...

Страница 40: ...f relevant technical documents Michael Hoch See manufacturer s address Rheinau Germany 2020 03 31 Martin Zimmer First name last name Address Place and date of issuance Legally binding signature Managi...

Страница 41: ...1 7 3 DIN EN ISO 12100 2011 03 Safety of machinery General principles for design Risk assessment and risk reduction DIN EN 60204 1 Safety of machinery Electrical equipment of machines part 1 DIN EN I...

Страница 42: ...ments of the Electromagnetic Compatibility Directive 2014 30 EU in its design and the version we put on the market The following harmonized standards have been used DIN EN ISO 12100 2011 03 Safety of...

Страница 43: ...AND OPERATING INSTRUCTIONS Gripper pneumatically intelligent GPP GPD5000 IL series 43 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com DDOC00247 d...

Страница 44: ...d EN 2020 07 20 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com INSTALLATION AND OPERATING INSTRUCTIONS Gripper pneumatically intelligent GPP GPD5...

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