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Zimmer HRC-03-117137, Инструкция по установке и эксплуатации

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12.4 Parameters
12.4.1 ControlWord

NOTICE

In the ControlWord parameter, only one single bit or the value 0 may be set at a time. Only the values listed in the 

following table are valid.

Parameter

Decimal value

Hexadecimal value

DataTransfer

1

0x0001

WritePDU

2

0x0002

ResetDirectionFlag

4

0x0004

Teach

8

0x0008

Adjust

128

0x0080

MoveToBase

256

0x0100

MoveToWork

512

0x0200

ErrorReset

32768

0x8000

Name

ControlWord

Data format

UINT16

Permission

Write

Transfer

Cyclical

Value range

0 ... 65535

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

Byte 1

ErrorReset -

-

-

-

-

MoveToWork MoveToBase

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Byte 2

Adjust

-

-

-

Teach

ResetDirec-

tionFlag

WritePDU

DataTransfer

INSTALLATION AND OPERATING INSTRUCTIONS:

 HRC-03

DDOC00268 / h

EN / 2022-12-19

Zimmer GmbH • Im Salmenkopf 5 • 

 77866 Rheinau, Germany • 

 +49 7844 9138 0 • www.zimmer-group.com

Содержание HRC-03-117137

Страница 1: ...INSTALLATION AND OPERATING INSTRUCTIONS 2 jaw parallel gripper electric HRC 03 DDOC00268 THE KNOW HOW FACTORY www zimmer group com...

Страница 2: ...h directions ShiftPosition ShiftPosition is a switching position between pre positioning and gripper movement StatusWord In its bits returns the most important information about the status of the prod...

Страница 3: ...ment 19 10 5 2 HRC 03 116787 pin assignment 19 10 5 3 HRC 03 117137 pin assignment 20 10 5 4 HRC 03 118505 pin assignment 20 10 5 5 HRC 03 125035 pin assignment 21 10 5 6 HRC 03 126649 pin assignment...

Страница 4: ...xamples 42 12 11 1 Save recipe 42 12 11 2 Loading a recipe 43 13 Operation 44 13 1 Operating Freedrive 44 13 2 Setting the gripping force 45 13 3 Emergency release 46 14 Gripping force charts 46 15 Er...

Страница 5: ...ding these dangers The warning symbols are assigned according to the type of danger WARNING This notice warns of a situation that is potentially hazardous to personal health Ignoring these notices can...

Страница 6: ...h as aggressive fluids or abrasive dusts Additional drilled holes or threads Zimmer GmbH shall accept no liability for any damage caused by improper use The operator bears sole responsibility Make sur...

Страница 7: ...sed in its original state with its original accessories with no unauthorized changes and within the stipulated parameter limits and operating conditions Any other or secondary use is deemed improper O...

Страница 8: ...selection can lead to malfunction 5 1 Possible applications Outside gripping Inside gripping The product can be used for outside gripping The product can be used for inside gripping MoveToWork command...

Страница 9: ...ping soft objects are significantly reduced since the amount of dynamic force is lowered Compliance with the maximum permitted gripping force has been verified using a suitable measuring instrument Th...

Страница 10: ...r gripping a wide range of form fit and frictional fit parts You can optionally adjust the gripping force to the workpiece by using the control system via IO Link Depending on the installation size th...

Страница 11: ...eet on our website Please contact Zimmer Customer Service if you have any questions 6 4 Self locking mechanism INFORMATION The product has a mechanical self locking mechanism to ensure that the workpi...

Страница 12: ...sport to ensure that no unexpected movements can occur Before commissioning the product and after transport check all power and communication connections as well as all mechanical connections If the p...

Страница 13: ...e installation and operating instructions Switch off the power supply before any assembly installation or maintenance work INFORMATION Requirements for a mounting surface with a length 100 mm Permissi...

Страница 14: ...ting piece Mount the product on the robot flange using the mounting screws Install the housing using the countersunk screws 8 Straight pins 9 Mounting screw bl Case bm Countersunk screw Zimmer GmbH Im...

Страница 15: ...of delivery Strength class of the mounting screws is at least 8 8 DIN EN ISO 4762 Use M3x16 mounting screws Position the ClickSmart plate on the product bn bo Loosely attach the mounting screws Tight...

Страница 16: ...ng screws Position the product on the adapter plate using the straight pin Mount the product on the adapter plate using the mounting screws Install the housing using the countersunk screws bp Adapter...

Страница 17: ...3 GND V2 4 V1 1 V2 2 GND V1 3 GND V2 4 V2 1 DXP 2 GND V2 3 C Q 4 n c 5 BR WS BL SW Power IN 21 22 21 22 21 22 21 22 K1 S24V 1 P24V 2 SGND 3 C Q 4 PGND 5 Up GND Up Us GND Us PE Up GND Up Us GND Us PE...

Страница 18: ...e outer diameter This bending radius must not be undershot Freely suspended cables must be secured to prevent excessive motion loads or pinching The contacts of the energy supply must be dry clean and...

Страница 19: ...Pin 3 or Pin 4 10 5 2 HRC 03 116787 pin assignment pin Color Function Explanation 6 1 2 4 8 3 5 7 M8 8 pin Socket bracket 1 White Analog output 0 to 10 V DC output 2 Brown Reserve 3 Green 4 Yellow 5...

Страница 20: ...ent pin Color Function Explanation 6 1 2 4 8 3 5 7 M8 8 pin Socket bracket 1 White Analog output 0 to 10 V DC output 2 Brown Reserve 3 Green Signal 2 4 Yellow Special function Freedrive signal 24 V if...

Страница 21: ...el at Pin 3 or Pin 4 10 5 6 HRC 03 126649 pin assignment pin Color Function Explanation 6 1 2 4 8 3 5 7 M8 8 pin Socket bracket 1 White 2 Brown 3 Green Output Inside signal 4 Yellow Output Outside sig...

Страница 22: ...til the gripping process ends Reset the corresponding signal after the movement is complete The signal must be reset before a signal is emitted in the opposite direction Observe a break time of 10 ms...

Страница 23: ...M8 8 pin Socket bracket 1 2 3 Green Output Inside signal 4 Yellow Output Outside signal 5 Gray 24 V DC 24 V DC supply voltage 6 Pink Input Outward move command 7 Blue Input Inward move command 8 Red...

Страница 24: ...uts of the product are configured for PNP outputs of the control system Connect the product to the voltage supply Ensure the proper voltage supply A voltage supply between Pin 7 and Pin 8 is necessary...

Страница 25: ...n In the event of high ambient temperatures the product must be installed on heat dissipating materials If the product is operated under very high ambient temperatures and with fast clock cycles on an...

Страница 26: ...a high level is detected the gripper movement occurs until the gripping process ends Reset the corresponding signal after the movement is complete The signal must be reset before a signal is emitted...

Страница 27: ...hat both input signals are switched for 5 seconds after a restart The product opens and closes several times and then stays open The factory default settings are BasePosition and WorkPosition Teaching...

Страница 28: ...ication simultaneous activation of both voltages is also possible INFORMATION If the sensor supply is disconnected the C Q signal IO Link must be disconnected as well 11 5 Minimum travel path The prod...

Страница 29: ...product Name Data type ControlWord UINT16 DeviceMode UINT8 WorkpieceNo UINT8 TeachPosition UINT16 GripForce UINT8 PositionTolerance UINT8 Control system Gripper Input Output Name Data type StatusWord...

Страница 30: ...second byte Apply a byte swap refer to the StatusWord section INFORMATION The product is controlled via IO Link by means of the cyclical process data as well as the acyclic service data with a cycle...

Страница 31: ...080 MoveToBase 256 0x0100 MoveToWork 512 0x0200 ErrorReset 32768 0x8000 Name ControlWord Data format UINT16 Permission Write Transfer Cyclical Value range 0 65535 Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bi...

Страница 32: ...recipes NOTICE Please note that the product can be damaged from overheating due to repeated prompt movement to the end stop or with a gripped workpiece Bit 3 Teach Setting this bit tells the product...

Страница 33: ...of movement is Base To achieve the best gripping results the gripped workpiece must be transported further during the subsequent current feed 103 Universal operation with subsequent current feed Like...

Страница 34: ...ipped workpiece movement standstill subsequent current feed workpiece loss detection NOTICE In case of workpiece loss the product moves to the end position and outputs a message Zimmer GmbH Im Salmenk...

Страница 35: ...he corresponding workpiece recipe is loaded in the product 12 4 4 PositionTolerance Used to configure the position tolerance with a resolution of 0 01 mm Thus the value range of 0 to 255 can be used t...

Страница 36: ...mission Write Transfer Cyclical Value range 1 Level 1 2 Level 2 3 Level 3 4 Level 4 12 4 6 TeachPosition The TeachPosition notifies the product of the expected position of the workpiece The tolerance...

Страница 37: ...ve if the product is not set to TeachPosition WorkPosition or BasePosition Bit 12 DataTransferOK This bit is used for data transmission using the handshake Active as soon as the product has taken over...

Страница 38: ...12 4 9 ActualPosition ActualPosition corresponds to the current position of the gripper jaws relative to the full stroke The value is specified with a resolution of 0 01 mm The values can move betwee...

Страница 39: ...per gripper jaw mm HRC 03 126902 0 5 12 7 Easy Startup Describes the process from switching on the product to the initial movement Connect the product according to its assignment diagram The product...

Страница 40: ...f the initialization iStep 30 Jump to the next step END_IF 30 IF NOT StatusWord 12 THEN DeviceMode 100 Command to select the universal mode GripForce 4 Gripping force setting ControlWord 1 Data transf...

Страница 41: ...direction flags The direction flags are reset when the product answers with status bit 13 AND 14 FALSE Program example for repeated movements in the same direction Multiple movement in one direction...

Страница 42: ...tusWord Response of the product to transferred data ControlWord 0 Reset the ControlWord iStep 40 Jump to the next step END_IF 40 IF NOT StatusWord 12 THEN Query for completion of the data transfer Dat...

Страница 43: ...F StatusWord 12 THEN Queries the bit DataTransferOK TRUE from StatusWord Response of the product to transferred data ControlWord 0 Reset the ControlWord iStep 40 Jump to the next step END_IF 40 IF NOT...

Страница 44: ...ot is moved with the product to the desired position Release the Freedrive Button again as soon as you have reached the desired position The robot and product stop at their position Observe the inform...

Страница 45: ...if the energy supply drops off Please contact Zimmer Customer Service if you have any questions The gripping force can be adjusted in four stages using a rotary switch INFORMATION The gripping force...

Страница 46: ...ease with a corresponding Allen key Design size Wrench size mm HRC 03 1 5 14 Gripping force charts INFORMATION You can find information on our website Please contact Zimmer Customer Service if you hav...

Страница 47: ...e lost Gripping force is not sufficient Workpiece was not gripped correctly Gripper finger geometry does not match the gripped workpiece Workpiece is too heavy Check the required gripping force Check...

Страница 48: ...ta were not taken over Apply the process data via a handshake 0x0310 DeviceMode was changed Modified process data were not taken over Apply the process data via a handshake 0x0311 WorkpieceNo was chan...

Страница 49: ...reference run is being performed 15 2 Status in LED display for Digital error Green LED lights up continuously No error Red LED flashes every second Green LED lights up continuously Loss of workpiece...

Страница 50: ...tion of the process data 0x0103 259 DeviceMode UINT8 Read 1 95 Reflection of the process data 0x0104 260 PositionTolerance UINT8 Read 0 255 Reflection of the process data 0x0105 261 GripForce UINT8 Re...

Страница 51: ...WorkPo sition to the outside Resetting all changes to factory settings using an IO Link factory reset 0x022f 559 Holding current UINT16 Read write 0 to 1000 Amperage for current after supply scaled t...

Страница 52: ...llion cycles The maintenance interval may be shortened under the following circumstances Dirty environment Improper use and use that does not comply with the power specifications Permissible temperatu...

Страница 53: ...20 REACH declaration In terms of the EC Regulation 1907 2006 Name and address of the manufacturer Zimmer GmbH Im Salmenkopf 77866 Rheinau Germany 49 7844 9138 0 info zimmer group com www zimmer group...

Страница 54: ...t the specific technical documents were produced in accordance with Annex VII Part B of this Directive We undertake to provide the market supervisory bodies with electronic versions of special documen...

Страница 55: ...machinery General principles for design Risk assessment and risk reduction DIN EN 61000 6 3 EMC Generic standard Emission standard for residential commercial and light in dustrial DIN EN 61000 6 2 EM...

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