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INSTALLATION AND OPERATING INSTRUCTIONS:

 

Gripper, pneumatically intelligent, GPP/GPD5000-IL series 

5

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

1.  Supporting documents

NOTICE:

Read through the installation and operating instructions carefully before installing the product!

The installation and operating instructions contain important notes for your personal safety. They must be read 

and understood by all persons who work with or handle the product during any phase of the product lifetime.

The documents listed below are available for download on our website (

www.zimmer-group.com

). Only those 

documents currently available on the website are valid.

•  Catalogs, drawings, CAD data, performance data
•  Information on accessories
•  Installation and operating instructions
•  Technical data sheets
• 

General Terms and Conditions of Business with specifications for the warranty entitlement

2.  Safety notes

CAUTION:

Non-compliance may result in severe injuries!
1. 

Installation, commissioning, maintenance and repairs may only be performed by qualified specialists in ac

-

cordance with these installation and operating instructions.

2. 

The gripper is state-of-the-art. It is fitted to industrial machines and is used to hold workpieces. The following 

are examples of situations in which the gripper may pose a hazard:

•  The gripper is not properly installed, used or maintained
•  The gripper is not used for its intended purpose
•  Local regulations (legislation, ordinances, guidelines), such as the EC Machinery Directive, accident pre-

vention regulations and the installation and operating instructions, 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 than the intended use requires written approval from Zimmer GmbH.
5.  Make sure that the power cables are disconnected before you install, modify, maintain or repair the gripper.
6. 

In case of maintenance, modification or attachment work, remove the gripper from the machine and perform 

the work outside the danger zone.

7.  When commissioning or testing, make sure that the gripper cannot be activated by mistake.
8. 

Modifications to the gripper, such as adding drilled holes or threads, may be made only with prior approval 

from Zimmer GmbH.

9. 

The specified maintenance intervals are to be observed; also refer to the "Maintenance" section. When the 

gripper is used under extreme conditions, the maintenance interval must be adapted depending on the 

extent of the contamination. Please contact our hotline for this purpose.

10. Use of the gripper under extreme conditions, such as aggressive liquids and abrasive dusts, is subject to 

prior approval from Zimmer GmbH.

11. Do not reach into the operational range of the gripper!
12. When disassembling grippers with integrated springs, exercise heightened caution because spring tension is 

always present.

13. The gripper is protected by temperature monitoring and the maximum duration of the current feed. Neverthe-

less, you should observe a certain cooling time immediately after use before the gripper is modified, ser

-

viced, repaired or dismantled. Wearing personal protective equipment is also advisable.

14. Persons with life-sustaining implants (e.g. pacemakers) must maintain a distance of 100 mm from the grip-

per!

15. 

Data carriers with a sensitivity to magnetic influences should not be used at a distance closer than 100 mm.

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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