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DDOC00416 / a
EN / 2020-08-19
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:
2-jaw parallel gripper, electric, HRC-01/-02 series
8.4 “Cold boot”
For proper function, we recommend that the actuator and sensor voltage be supplied with power separately.
Pins 1 and 3 are intended for the sensor power supply and must be switched on first.
Once the gripper is able to communicate with the PLC, the supply voltage can then be activated via pins 2 and 5.
Please observe the following:
If pin 1 is disconnected, pin 4 (IO-Link) must also be disconnected.
8.5 Minimum travel path
The gripper requires a certain “minimum travel path” to accelerate to the desired gripping force.
This minimum travel path depends on:
• The desired gripping force
•
The dimensions of the gripper fingers
Model
Minimum travel path
HRC-02-093390
3 mm
HRC-02-093677
3 mm
HRC-02-093695
3 mm
HRC-02-101487
3 mm
HRC-02-101528
3 mm
HRC-02-101903
3 mm
8.6 Referencing by “Homing”
NOTICE:
Before each “Homing command,” make sure that the gripper is able to move freely and easily and that it
cannot be blocked by the gripper jaws or interfering edges.
When blocking, the reference position is set.
A “Homing command” is not permitted in the gripped state.
There are various “Homing commands” available.
"DeviceMode"
Action
10
Outside homing - to the internal end stop of the gripper (see Section 8.6.1)
14
Inside homing - to the internal end stop of the gripper (see Section 8.6.2)
16
Special outside homing - to the external end stop (see Section 8.6.3)
17
Special inside homing - to the external end stop (see Section 8.6.4)
The gripper has reached its “zero position” if the gripper jaws are at the pictured position when referencing (“Hom-
ing” “DeviceMode” 10).
Depending on installation size, the gripper jaws move slightly beyond the edge of the gripper housing when mov-
ing to home position (“Homing”).
