INSTALLATION AND OPERATING INSTRUCTIONS:
2-jaw angular grippers, electric/pneumatic, HRC-05 series
3
DDOC00270 / f
EN / 2020-03-31
Zimmer GmbH
●
Im Salmenkopf 5
●
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
Contents
1. Supporting documents .......................................................................................................................................................5
2. Safety notes .........................................................................................................................................................................5
3. Proper use ............................................................................................................................................................................6
4. Personnel qualification
.......................................................................................................................................................6
5. Product description .............................................................................................................................................................6
5.1 Possible applications ........................................................................................................................................................................................6
5.2 Forces and torques ...........................................................................................................................................................................................6
5.3 Type plate .........................................................................................................................................................................................................7
5.4 Criteria for use in collaborative applications ..................................................................................................................................................7
6. Function ...............................................................................................................................................................................8
6.1 Electrical specifications
....................................................................................................................................................................................8
6.2 LED display .......................................................................................................................................................................................................9
6.2.1 "IO-Link" LED display ........................................................................................................................................................................................9
6.3 Fused configuration
........................................................................................................................................................................................10
6.4 Protection classes ...........................................................................................................................................................................................10
6.5 Technical data .................................................................................................................................................................................................10
7. Installation ..........................................................................................................................................................................10
7.1 Safety notes .....................................................................................................................................................................................................10
7.2 Installing the mechanical system ...................................................................................................................................................................10
7.2.1 General installation information .....................................................................................................................................................................10
7.2.2 Installing a gripper with a central cable gland ..............................................................................................................................................11
7.2.3 Installing a gripper with a lateral cable gland ...............................................................................................................................................12
7.3 Installing the power supply .............................................................................................................................................................................13
7.3.1 Installing the wiring .........................................................................................................................................................................................13
7.3.2 Installing the pneumatic system ....................................................................................................................................................................14
7.3.3 Installing the “IO-Link” ....................................................................................................................................................................................14
7.4 Static charge ...................................................................................................................................................................................................14
7.5 Heat dissipation...............................................................................................................................................................................................14
7.6 Installing accessories .....................................................................................................................................................................................15
8. Commissioning ..................................................................................................................................................................15
8.1 Commissioning the IO-Link ............................................................................................................................................................................15
8.1.1 Process data ....................................................................................................................................................................................................15
8.1.2 IODD import ....................................................................................................................................................................................................16
8.2 "Handshake" data transfer method ................................................................................................................................................................16
8.3 Parameters ......................................................................................................................................................................................................17
8.3.1 "ControlWord" parameter ...............................................................................................................................................................................17
8.3.2 “DeviceMode” parameter ...............................................................................................................................................................................18
8.3.3 “WorkpieceNo” parameter .............................................................................................................................................................................18
8.3.4 "PositionTolerance" parameter .......................................................................................................................................................................19
8.3.5 “TeachPosition” parameter ............................................................................................................................................................................20
8.3.6 "StatusWord" parameter .................................................................................................................................................................................20
8.3.7 "Diagnosis" parameter ....................................................................................................................................................................................21
8.3.8 "ActualPosition” parameter ............................................................................................................................................................................22
8.4 “Cold start” ......................................................................................................................................................................................................22
8.5 Minimum travel path .......................................................................................................................................................................................22
8.6 “Easy Startup" .................................................................................................................................................................................................23
8.6.1 “Easy Startup” HRC-05 series........................................................................................................................................................................23
8.7 Starting gripping movement ..........................................................................................................................................................................24
8.8 Repeated movement in the same direction ..................................................................................................................................................24
8.8.1 "Save recipe” ...................................................................................................................................................................................................25
8.9 Recipe examples "Load recipe” ....................................................................................................................................................................26
