INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw parallel gripper, electric, HRC-03 series
6
DDOC00268-01 / f
EN / 2019-10-24
Zimmer GmbH
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Im Salmenkopf 5
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77866 Rheinau
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+49 7844 9138 0
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+49 7844 9138 80
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www.zimmer-group.com
7.2 Installation of “HRC-03-086003”
PIN assignment of the power supply line:
PIN
Color
Function
Explanation
1
White
Analog output
0 to 10 V output
2
Brown
Reserve
3
Green
Signal 2
4
Yellow
Special function
Button on gripper housing
5
Gray
+ 24 V DC
+ 24 V DC supply voltage
6
Pink
Move command
Input, control input, inner move command
7
Blue
Move command
Input, control input, outer move command
8
Red
GND
0 V DC supply voltage
The following steps must be carried out for commissioning or installing the “HRC-03-086003” gripper:
►
Connect the gripper to the voltage supply.
►
Secure the voltage supply.
Ö
A voltage supply between PIN 5 and PIN 8 is necessary for operation.
Ö
A jaw movement is triggered by a voltage level between PIN 7 or PIN 6.
Control logic:
Movement
PIN 7 (open)
PIN 6 (close)
Gripper in rest mode
0
0
Open gripper
1
0
Close gripper
0
1
A movement in the desired direction occurs when the corresponding signal is at a high level. After a high level is
detected, the gripper movement occurs until the gripping process ends.
It is important to ensure that, after a movement has taken place, the corresponding signal is reset.
This must happen before a signal is carried out in the opposite direction.
A pause of 10 ms must be maintained between withdrawing the signal and the next command.
Freedrive (soft-switching the robot)
For manual soft-switching of the robot, the gripper is equipped
with a “freedrive button” (see figure on the right).
The following work steps must be observed for manually teach-
ing-in the robot position:
►
Press the freedrive button to soft-switch the robot.
Ö
The robot can be moved manually.
Ö
Move the robot with the gripper to the desired
position.
►
Release the freedrive button .
Ö
The robot and gripper stop at their position.
Ö
For “teaching” or activating the position of the robot and
gripper in the control system, please observe the information
provided by the robot manufacturer.
Ö
The information provided by the robot manufacturer includes
details about activation.