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5 Product description

CAUTION

Reduction of the gripping force can cause personal injury and material damage

When flexible components are gripped, the gripping force of the product is reduced.
Reduced gripping force can lead to personal injury or material damage, because the components that are being

gripped can no longer be securely gripped and transported.

NOTICE

►

Make sure that the setting of the gripping force and the selection of the gripper finger length are correct to

prevent incorrect bracing of the gripper jaws.

Ö

An incorrect configuration or selection can lead to malfunction

The product is a safe gripper in accordance with DIN ISO 13849-1.
The basic and proven safety principles from DIN EN 13849-1 can be complied with only if original parts from Zimmer GmbH

are used.

This ensures that a gripping force of 60 N cannot be exceeded.

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

MoveToBase command

5.2 Forces and torques
INFORMATION

►

You can find the information in the technical data sheet on our website.

►

Please contact Zimmer Customer Service if you have any questions.

INSTALLATION AND OPERATING INSTRUCTIONS:

HRC-07

DDOC01015 / a

EN / 2022-07-20

Zimmer GmbH • Im Salmenkopf 5 •



77866 Rheinau, Germany •



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

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Содержание HRC-07 Series

Страница 1: ...INSTALLATION AND OPERATING INSTRUCTIONS 3 jaw concentric gripper electric HRC 07 series DDOC01015 THE KNOW HOW FACTORY www zimmer group com...

Страница 2: ...on and WorkPosition The value of the parameter acts in both directions ShiftPosition ShiftPosition is a switching position between pre positioning and gripper movement StatusWord In its bits returns t...

Страница 3: ...he pin assignment 17 10 4 Static charge 18 10 5 Heat dissipation 18 10 6 Installing accessories 18 11 Commissioning 19 11 1 Process data 19 11 2 IODD Import 20 11 3 Handshake Data Transfer Method 20 1...

Страница 4: ...osis 38 15 Status in LED display 40 16 Table with acyclic data ISDU 41 17 Maintenance 43 18 Decommissioning disposal 43 19 RoHS declaration 44 20 REACH declaration 44 21 Declaration of Incorporation 4...

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: ...n the following examples require the written permission of the manufacturer Use of the product under extreme conditions such as aggressive fluids or abrasive dusts Additional drilled holes or threads...

Страница 7: ...s and operating conditions Any other or secondary use is deemed improper Operate the product only in compliance with the associated installation and operating instructions Operate the product only whe...

Страница 8: ...nction The product is a safe gripper in accordance with DIN ISO 13849 1 The basic and proven safety principles from DIN EN 13849 1 can be complied with only if original parts from Zimmer GmbH are used...

Страница 9: ...0 N Compliance with this value has been checked using a suitable measuring device The product did not exceed a gripping force of 60 N The maximum torque of the motor in combination with the transmissi...

Страница 10: ...jaws and synchronize these movements Despite its small installation space the product is suited for gripping a wide range of form fit and frictional fit parts You can optionally adjust the gripping f...

Страница 11: ...D status display 4 Power communication 5 Error 4 5 INSTALLATION AND OPERATING INSTRUCTIONS HRC 07 DDOC01015 a EN 2022 07 20 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 www zimmer...

Страница 12: ...nical self locking mechanism to ensure that the workpiece remains held by the product in the event of power supply loss or failure e g an emergency stop Please contact Zimmer Customer Service if you h...

Страница 13: ...power and communication connections as well as all mechanical connections If the product is stored for an extended period the following points are to be observed Keep the storage location as dust fre...

Страница 14: ...by qualified personnel in accordance with these installation and operating instructions Switch off the power supply before any assembly installation or maintenance work Install the product on an appr...

Страница 15: ...he robot flange using the pin drilled holes and bolt Mount the product on the robot flange using the mounting screws 7 9 6 Mounting screw 7 Robot flange 8 Pin 9 Pin for positioning INSTALLATION AND OP...

Страница 16: ...24V IN 24V OUT L A IN L A OUT X01 GND_Up 1 GND_Us 2 PE 3 Us 4 Up 5 GND_Up 1 GND_Us 2 PE 3 Us 4 Up 5 Tx 1 Rx 2 Rx 3 Tx 4 Tx 1 Rx 2 Rx 3 Tx 4 L 1 P24 2 L 3 C Q 4 N24 5 21 22 21 22 21 22 21 22 Power IN B...

Страница 17: ...gnment pin Function Explanation 8 H 2 B 1 A 7 G 1 A 2 B 3 C 24 V DC actuator Actuator supply voltage 4 D C Q IO Link communication 5 E FE Functional ground 6 F 7 G GND 8 H 24 V DC sensor Supply voltag...

Страница 18: ...ent 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 ongoing ba...

Страница 19: ...de UINT8 WorkpieceNo UINT8 Reserve UINT8 PositionTolerance UINT8 GripForce UINT8 DriveVelocity UINT8 BasePosition UINT16 Reserve UINT16 TeachPosition UINT16 WorkPosition UINT16 Control system Gripper...

Страница 20: ...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 21: ...hen this bit is set the product accepts the data transferred in the process data Bit 1 WritePDU Setting this bit tells the product that it should write the current process data to the selected workpie...

Страница 22: ...subsequent current feed for a time of 500 ms when the direction of movement is Base To achieve the best gripping results the gripped workpiece must be transported further during the subsequent current...

Страница 23: ...ition does not have any significance in this mode because the BasePosition or WorkPosition is always approached precisely If the product encounters an obstacle in this mode while moving it stops and i...

Страница 24: ...GripForce Desired gripping force TeachPosition Expected position of the workpiece PositionTolerance Permitted tolerance for the workpiece DriveVelocity Opening speed Since gripping should occur in on...

Страница 25: ...ControlWord 63 Move toward the WorkPosition until this position or the workpiece is reached 0x0200 63 Move toward the BasePosition to open the product 0x0100 Mode Group 70 typically used for inside gr...

Страница 26: ...he corresponding workpiece recipe is loaded in the product 11 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 27: ...alue range 1 Level 1 2 Level 2 3 Level 3 4 Level 4 11 4 6 DriveVelocity The product can work at various movement speeds for an optimized process sequence This parameter determines the movement speed o...

Страница 28: ...d using the PositionTolerance The StatusWord notifies the control system of whether the desired workpiece has been gripped The user can monitor this work step with the Teach bit Use the following valu...

Страница 29: ...nnot switch it on off manually Bit 2 InMotion This bit is active during the run Bit 3 MovementComplete This bit is active after the movement is complete Bit 4 JogBaseActive Confirmation during the Jog...

Страница 30: ...tive if the last motion task was carried out toward BasePosition Bit 14 ControlWord 0x0200 This bit is a direction flag Active if the last motion task was carried out toward WorkPosition Bit 15 Error...

Страница 31: ...5 11 4 12 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 betw...

Страница 32: ...ng to its assignment diagram The product reports the process parameters StatusWord Diagnosis and ActualPosition immediately after the internal controller is booted up As soon as the PLCActive bit is r...

Страница 33: ...used PositionTolerance 50 GripForce 4 Gripping force setting BasePosition 100 TeachPosition 1200 WorkPosition 1200 ControlWord 1 Data transfer to the product iStep 20 Jump to the next step END_IF 20...

Страница 34: ...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 35: ...sferOK 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 StatusWord 12 THEN Query for completion of the d...

Страница 36: ...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 37: ...control system 12 2 Emergency release The product features an emergency release that can be mechanically opened with an Allen key in the event of a power failure Secure the workpieces to prevent them...

Страница 38: ...etry does not match the gripped workpiece Workpiece is too heavy Check the required gripping force Check the gripper finger geometry Reset the error by sending another move command back 0x0300 Control...

Страница 39: ...s data 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...

Страница 40: ...en LED does not light up Process data are invalid Internal error Red LED flashes every second Green LED flashes every second at the same time No reference position A reference run must be performed Re...

Страница 41: ...0 PositionTolerance UINT8 Read 0 255 Reflection of the process data 0x0105 261 GripForce UINT8 Read 1 130 Reflection of the process data 0x0107 263 DriveVelocity UINT8 Read 1 100 Reflection of the pro...

Страница 42: ...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 to the maximum permitted current 0x0230 560 Holding...

Страница 43: ...ven though the product is maintenance free as mentioned above perform a regular visual inspection to check for any corrosion damage or contamination Have maintenance work be performed by Zimmer Custom...

Страница 44: ...r 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 grou...

Страница 45: ...at 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 docume...

Страница 46: ...f 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 E...

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