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11.8 Interruption of the power supply

During an interruption of the voltage supply (e.g. when using a tool changer), make absolutely sure that the product stores

the last position in the controller.

►

Carry out a handshake before switching off the power supply.

►

Use a timer to delay the shutoff of the power supply by 2 seconds.

This ensures that no change of position occurs during a restart.

INFORMATION

For example codes, refer to the "Quickstart Basic Parameters" and "Recipe Examples" sections.

11.9 Easy Startup

Describes the process from switching on the product to the initial movement.

►

Connect the product according 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 registered in the StatusWord, the communication process can start.

►

Transmit the process parameters to move the product.

•

DeviceMode

•

WorkpieceNo

•

PositionTolerance

•

GripForce

•

DriveVelocity

•

BasePosition

•

ShiftPosition

•

TeachPosition

•

WorkPosition

►

Transmit the parameters to the product with a handshake.

INFORMATION

►

For information and an example code for the handshake, refer to the "Quickstart Basic Parameters" and

"Recipe Examples" sections.

11.10 Starting the data transfer

►

Start the data transmission with the ControlWord = 1 (decimal).

As soon as the process parameter has been transmitted to the product, the product will report this back in the

StatusWord with the DataTransferOK bit.

The product is ready to operate.

INFORMATION

►

For information about data transfers, refer to the "StatusWord" section.

INSTALLATION AND OPERATING INSTRUCTIONS:

LWR50L-02

DDOC01067 / a

EN / 2021-09-15

Zimmer GmbH • Im Salmenkopf 5 •



77866 Rheinau, Germany •



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

Содержание MATCH LWR50L-02 Series

Страница 1: ...INSTALLATION AND OPERATING INSTRUCTIONS 2 jaw parallel gripper with quick change system Serie LWR50L 02 DDOC01067 THE KNOW HOW FACTORY www zimmer group com ...

Страница 2: ...n 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 the most important information about the status of the product to the control system Teach Adjust Programming Adjusting With this signal depending on the gripper type the current position of the gripper...

Страница 3: ...ies scope of delivery 16 9 Transportation storage preservation 16 10 Installation 17 10 1 Installing the product 17 10 1 1 Installing the stationary part and loose part 18 10 2 Installing the energy supply 19 10 3 Installing the sensors 19 10 4 Static charge 19 10 5 Installing accessories 19 11 Commissioning 20 11 1 Process data 20 11 2 IODD Import 21 11 3 Handshake Data Transfer Method 21 11 4 Pa...

Страница 4: ...Starting the gripping movement 38 11 13 Repeated movements in the same direction 38 11 14 Recipe examples Load recipe 39 11 14 1 Save recipe 39 11 14 2 Loading a recipe 40 12 Operation 41 12 1 Adjustable gripping force 41 12 2 Emergency release 41 13 Gripping force charts 41 14 Error diagnosis 42 15 Table with acyclic data ISDU 45 16 Maintenance 46 17 Decommissioning disposal 46 INSTALLATION AND O...

Страница 5: ...g these dangers Ö 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 cause serious injury or damage to health You absolutely must comply with the described measures for avoiding these dangers Ö The warning symbols are assigned according to the type of danger CAUTION Th...

Страница 6: ...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 Ö Zimmer GmbH shall accept no liability for any damage caused by improper use The operator bears sole responsibility Make sure that the power supply is disconnected before you mount adjust modify mainta...

Страница 7: ...lies into contact with plastics and parts of clothing that have plastic content Store electronic assemblies on conductive underlays only Do not install electronic assemblies in the vicinity of data back up devices or monitors monitor distance 100 mm Perform measurements on electronic assemblies only if The measuring instrument is grounded e g via a ground conductor The measuring head is momentaril...

Страница 8: ...use 4 Personnel qualification Installation commissioning and maintenance may only be performed by trained specialists These persons must have read and understood the installation and operating instructions in full NOTICE The product is only to be used in its original state with its original accessories with no unauthorized changes and within the stipulated parameter limits and operating conditions...

Страница 9: ... cation interfaces MATCH is compatible with any lightweight construction robot The system can be mounted to the robot flange and set up conveniently with just a few manual adjustments The product is a safe quick change system loose part with gripper The basic and proven safety principles from DIN EN 13849 1 can be complied with only if original parts from Zimmer GmbH are used The original parts fr...

Страница 10: ...ttached to the housing of the product XXX XX XXXXXX am an The article number and confirmation number are shown on the type plate am Article number an Confirmation number 5 3 Product variants and compatibility INFORMATION You can find information about product variants and their compatibility on our website Please contact Zimmer Customer Service if you have any questions INSTALLATION AND OPERATING ...

Страница 11: ...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 The product is engineered to be inherently safe and is designed with rounded edges and shapes that prevent crushing and shearing points from being created Automation cell Coexistence Separated workspace...

Страница 12: ...to each other The product is equipped with a hot plug function which allows for the replacement of a loose part while electrically live The loose part is designed in such a way that incorrect insertion into the storage station is impossible 7 5 2 9 6 8 4 2 Loose part for quick change system 7 Gripper jaw 4 Rotation prevention torque absorption 8 Signal transmission 5 Emergency release 9 Locking 6 ...

Страница 13: ...the inspection position sensors in the storage station The two sensors in the inspection position test channel respond if the lockings are extended and make contact in the stationary part When the stationary and loose part are joined the internal spring pin contacts for signal transmission are contacted Then the Connect LED changes color from red to green and a Connect signal depending on the vari...

Страница 14: ...ont markings of the storage station Turn in the sensors until they emit a signal Fasten the sensors at this position Coat the sensors with sealing lacquer 6 2 3 Adjust the sensors in the storage position Position a loose part in the storage station Turn in the sensors until they emit a signal Coat the sensors with sealing lacquer bl Sensor in storage position loose part present bm Sensor in inspec...

Страница 15: ...N EN ISO 13849 1 According to Figure 5 Chapter 4 5 4 of the specified standard the PL d can be achieved with this product Fault elimination in accordance with DIN EN ISO 13849 2 Annex A Table A2 and A3 for the helical compression springs used can be given 6 4 Control INFORMATION You can find the information in the technical data sheet on our website Please contact Zimmer Customer Service if you ha...

Страница 16: ...and storage of the product must be done only with the original packaging If the product has already been installed on the superordinate machine unit care must be taken during transport 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 product is stored for ...

Страница 17: ...al switch on Check the machine for any residual energy Secure the power supply against being switched on unintentionally Check the machine for any residual energy that may be present NOTICE Installation may only be carried out by qualified personnel in accordance with these installation and operating instructions Switch off the power supply before any assembly installation or maintenance work 10 1...

Страница 18: ...ed manually Automatic exchange The stationary part is moved to the loose part in the storage station and locked by means of the storage station see Sensors section Rotation prevention The design rules out incorrect joining as the loose part is equipped with two different bolts INSTALLATION AND OPERATING INSTRUCTIONS LWR50L 02 DDOC01067 a EN 2021 09 15 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germ...

Страница 19: ...aterial damage Grounding the product is recommended if ESD sensitive parts come into contact with the product Grounding is also recommended in applications that require high EMC shielding The movement of the gripper jaws creates low voltages as a result of static charging These charges cannot be dissipated if the product is mounted on an insulating surface and if discharge is also not possible thr...

Страница 20: ...INT8 WorkpieceNo UINT8 Reserve UINT8 PositionTolerance UINT8 GripForce UINT8 DriveVelocity UINT8 BasePosition UINT16 ShiftPosition UINT16 TeachPosition UINT16 WorkPosition UINT16 Control system Gripper Input Output Name Data type StatusWord UINT16 Diagnosis UINT16 ActualPosition UINT16 INSTALLATION AND OPERATING INSTRUCTIONS LWR50L 02 DDOC01067 a EN 2021 09 15 Zimmer GmbH Im Salmenkopf 5 77866 Rhe...

Страница 21: ...he 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 time of 10 ms It is mandatory to verify the process data 11 3 Handshake Data Transfer Method The handshake method makes it possible to transfer the process data about the product All process data de...

Страница 22: ...e 0 Teach ResetDirec tionFlag WritePDU Data transfer Bit 0 DataTransfer When 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 workpiece recipe Bit 2 ResetDirectionFlag Setting this bit tells the product that the direction flag needs to be reset This makes a re...

Страница 23: ...rol the basic product actions DeviceMode Action ControlWord 0 Not sent to the motor control system dc 1 Idle 0x0001 2 Gripper reset 0x0001 3 Switch on the motor 0x0001 5 Switch off motor stop gripping movement 0x0001 10 Start homing necessary only if the product was moved without a voltage supply 0x0001 11 Activate jog mode 0x0400 0x0800 Bit 8 MoveToBase Setting this bit tells the product to move ...

Страница 24: ...ControlWord No defined gripping forces can be generated in this mode As a result friction locked gripping is not permitted in this mode DeviceMode Action ControlWord 50 Move to the BasePosition 0x0100 50 Move to the WorkPosition 0x0200 51 Move to the BasePosition Special movement profile for a faster movement of the product The product must never be jammed i e neither be stopped at the end stop no...

Страница 25: ...in the PositionProfile without the need for any prompts from the user Here the gripper moves at the speed set in the DriveVelocity parameter This procedure is reversed in the Mode Group 72 Mode Group 62 is therefore used for outside gripping and the Mode Group 72 for inside gripping Mode Group 62 typically used for outside gripping DeviceMode Action ControlWord 62 Move toward the WorkPosition unti...

Страница 26: ... in the ForceProfile the product moves away from the workpiece using the PositionProfile at the speed specified with the DriveVelocity parameter Mode Group 82 typically used for outside gripping DeviceMode Action ControlWord 82 Move with v DriveVelocity to the ShiftPosition and then with GripForce until the workpiece or the WorkPosition is reached 0x0200 82 Move toward the BasePosition to open the...

Страница 27: ...he corresponding workpiece recipe is loaded in the product 11 4 5 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 to set a maximum tolerance of 2 55 mm in both directions INFORMATION Example For TeachPosition 1500 15 00 mm PositionTolerance 150 lets you configure a tolerance of 1 50 mm in both directions This mean...

Страница 28: ...n PrePosition ForceProfile mode it determines the movement speed to the switching position The positioning speed is specified as a percentage value 1 to 100 The product converts this information to its maximum movement speed INFORMATION Example To set a movement speed of 75 a value of 75 DriveVelocity 75 must be transmitted Name DriveVelocity Data format UINT8 Permission Write Transfer Cyclical Va...

Страница 29: ... stroke of the product 0 75 mm 11 4 11 WorkPosition The WorkPosition defines the maximum travel path of the product and has to be greater than the ShiftPosition In the PositionProfile this position is precisely approached because the product is in positioning mode In the PrePosition ForceProfile or ForceProfile modes the product is stopped starting from this position The product will move past the...

Страница 30: ...mal parameter The motor is automatically switched on during a Homing run DeviceMode 10 decimal 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 run in the direction of BasePosition Bit 5 JogWorkActive Confirmation during the Jog run in the direction of WorkPosition Bit 6 Gripper...

Страница 31: ...ee Error Diagnosis section Name Diagnosis Data format UINT16 Permission Read Transfer Cyclical Value range 0 65535 11 4 14 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 Name ActualPosition Data format UINT16 Permission Write Transfer Cyclical Value range 0 to max jaw stroke of th...

Страница 32: ...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 NOTICE DeviceModes 16 and 17 are not valid for products with safety gripper jaws DeviceMode Action 10 Outside homing to the internal end stop of the product see DeviceMode 10 section 14 Insi...

Страница 33: ... motor is switched on 11 7 2 DeviceMode 14 Assign DeviceMode 14 Transmit this value to the product with a handshake The motor can be switched on or off WARNING Risk of injury due to uncontrolled movements Transmitting the value might cause the product to move Always keep an adequate safety distance Do not reach into the operational range of the product Ö The gripper jaws move to the inside at low ...

Страница 34: ... the product with a handshake ControlWord 1 BasePosition must not be smaller than 75 Ö The gripper jaws move to the inside until they encounter the internal mechanical end stops Ö After reaching the mechanical end stops the product accepts the value of the BasePosition for the new ActualPo sition Ö For example this would be the new ActualPosition 100 see table Ö After homing the motor is switched ...

Страница 35: ... the product with a handshake ControlWord 1 WorkPosition must not be greater than 75 Ö The gripper jaws move to the inside until they encounter the internal mechanical end stops Ö After reaching the mechanical end stops the product accepts the value of the WorkPosition for its new ActualPo sition Ö For example this would be the new ActualPosition 4000 see table Ö After homing the motor is switched...

Страница 36: ...Ö As soon as the PLCActive bit is registered in the StatusWord the communication process can start Transmit the process parameters to move the product DeviceMode WorkpieceNo PositionTolerance GripForce DriveVelocity BasePosition ShiftPosition TeachPosition WorkPosition Transmit the parameters to the product with a handshake INFORMATION For information and an example code for the handshake refer to...

Страница 37: ...bit in the StatusWord iStep 40 Jump to the next step END_IF 40 DeviceMode 82 Loading a DeviceMode WorkpieceNo 0 0 current process parameters are being used PositionTolerance 50 GripForce 50 DriveVelocity 50 BasePosition 100 ShiftPosition 2000 TeachPosition 4000 WorkPosition 4000 iStep 50 Jump to the next step 50 ControlWord 1 Begins with the handshake iStep 60 Jump to the next step 60 IF StatusWor...

Страница 38: ...lags must be reset Send the ControlWord 0x0004 to delete the direction flags Ö The direction flag is reset when the product answers with Statusbit 13 AND 14 FALSE Program example for repeated movements in the same direction Multiple movement in one direction in Structured Text ST In this example the motor is switched on The movement profile Transfer gripping forces and speeds The product is at Bas...

Страница 39: ...rd 1 Begins with the handshake iStep 30 Jump to the next step 30 IF 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 50 IF StatusWord 12 THEN Queries the DataTransferOK TRUE bit from StatusWord ControlWord 0 Reset the ControlWord iStep 60 Jump to the next step...

Страница 40: ...ries 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 StatusWord 12 THEN Query for completion of the data transfer DataTransferOK FALSE Do other things Handshake is completed Parameters from the third recipe have been taken over into the current process parameters END_IF INSTA...

Страница 41: ...eatures an emergency release that can be mechanically opened with an Allen key in the event of a power failure bn Remove the protective cap to reach the emergency release Design size Wrench size mm Serie LWR50L 02 2 bn Protective cap INFORMATION Carry out another reference run after any emergency release Please contact Zimmer Customer Service if you have any questions 13 Gripping force charts INFO...

Страница 42: ...ke Please contact Zimmer Customer Service 0x0300 ControlWord is not plausible Multiple bits were set in the ControlWord In the ControlWord check that only one bit is set 0x0301 Positions are not plausible Transmitted positions TeachPosition BasePo sition ShiftPosition WorkPo sition are not plausible Modified process data were not taken over Check the transmitted process data Apply the process data...

Страница 43: ...were not taken over Check the transmitted process data Apply the process data via a handshake 0x0313 Calculated ShiftPosition exceeded Start position is not permitted for the selected motion task Move to the BasePosition with DeviceMode 60 Move to the WorkPosition with DeviceMode 70 0x0402 Jam Gripper jaws are blocked Gripper jaws are tensioned incorrectly Check that the product moves freely Send ...

Страница 44: ...ure 0x040F Internal error Internal error Please contact Zimmer Customer Service INSTALLATION AND OPERATING INSTRUCTIONS LWR50L 02 DDOC01067 a EN 2021 09 15 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 www zimmer group com ...

Страница 45: ...or code 0x0046 70 Error counter UINT32 Read 0 4294967295 Current error counter 0x0100 256 Actual position UINT16 Read 0 to max jaw stroke of the product Reflection of the process data 0x0101 257 TeachPosition UINT16 Read 0 to max jaw stroke of the product Reflection of the process data 0x0102 258 WorkpieceNo UINT8 Read 0 32 Reflection of the process data 0x0103 259 DeviceMode UINT8 Read 1 95 Refle...

Страница 46: ... power specifications Ambient temperature is too high Even 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 Customer Service whenever possible Ö Dismantling and reassembling the product without authorization may result in complications as special installation...

Страница 47: ...g Partner 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 com REACH stands for Registration Evaluation Authorisation and Restriction of Chemicals A full declaration of REACH can be obtained from the manufacturer due to the duty to notify in accordance...

Страница 48: ...hat 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 documents for the incomplete machine through our documentation department should they have reason to request them The incomplete machine may only be commissioned if it has been ascertained if applicable th...

Страница 49: ...SO 12100 2011 03 Safety of 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 EMC Generic standard Emission standard for industrial environments DIN EN 61000 6 4 EMC Generic standard Immunity for industrial environments A full list of applied standards c...

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