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Zimmer Match LWR50L-21 Series, Инструкция по установке и эксплуатации

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10.1.1 Installing the stationary part and end effector with loose part

Example image of a combination consisting of a stationary part, end effector with loose part, and storage station.

Manual exchange:

The end effector with loose part can be installed on the fixed part and 

locked manually.

Automatic exchange:

The stationary part is moved to the end effector with 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 end effector with loose part 

is equipped with two different bolts.

INSTALLATION AND OPERATING INSTRUCTIONS: 

LWR50L-21/LWR50L-22

 

DDOC01071 / b

EN / 2021-11-25

Zimmer GmbH • Im Salmenkopf 5 • 

 77866 Rheinau, Germany • 

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

Содержание Match LWR50L-21 Series

Страница 1: ...INSTALLATION AND OPERATING INSTRUCTIONS 2 jaw parallel gripper with quick change system LWR50L 21 series LWR50L 22 series DDOC01071 THE KNOW HOW FACTORY www zimmer group com...

Страница 2: ...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...

Страница 3: ...very 16 9 Transportation storage preservation 16 10 Installation 17 10 1 Installing the product 17 10 1 1 Installing the stationary part and end effector with loose part 18 10 2 Installing the energy...

Страница 4: ...s in the same direction 43 11 14 Recipe examples 44 11 14 1 Save recipe 44 11 14 2 Loading a recipe 45 12 Operation 46 12 1 Adjustable gripping force 46 12 2 Emergency release 46 13 Gripping force cha...

Страница 5: ...ese 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 cause...

Страница 6: ...product such as those in 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 dr...

Страница 7: ...nto 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...

Страница 8: ...stem The product is designed exclusively for electric operation using a 24 V DC power supply The product must always be mounted on materials that dissipate heat The product is intended for industrial...

Страница 9: ...aces 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 ch...

Страница 10: ...is attached 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 4 Product variants and...

Страница 11: ...e gripping force can be adapted optimally to the workpiece conditions via IO Link The product is equipped with a hot plug function which allows for the replacement of an end effector with loose part w...

Страница 12: ...n on the LED display refer to the installation and operating instructions of the fixed part on our website LWR50F The LED display is optionally available on the fixed part INSTALLATION AND OPERATING I...

Страница 13: ...el respond if the lockings are extended and make contact in the stationary part When the stationary part and end effector with loose part are joined the internal spring pin contacts for signal transmi...

Страница 14: ...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 an...

Страница 15: ...hapter 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 us...

Страница 16: ...orage 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 une...

Страница 17: ...h 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 o...

Страница 18: ...anually Automatic exchange The stationary part is moved to the end effector with loose part in the storage station and locked by means of the storage station see Sensors section Rotation prevention Th...

Страница 19: ...is mounted on an insulating surface and if discharge is also not possible through the workpiece 10 4 Heat dissipation In the event of high ambient temperatures the product must be installed on heat d...

Страница 20: ...orkpieceNo UINT8 Reserve UINT8 PositionTolerance UINT8 GripForce UINT8 DriveVelocity UINT8 BasePosition UINT16 ShiftPosition UINT16 TeachPosition UINT16 WorkPosition UINT16 Control system Gripper Inpu...

Страница 21: ...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...

Страница 22: ...Bit 0 Byte 2 Teach ResetDirec tionFlag WritePDU DataTransfer 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...

Страница 23: ...jog mode and slowly moves it toward the BasePosition If the bit is reset the product stops 11 4 2 DeviceMode Name DeviceMode Data format UINT8 Permission Write Transfer Cyclical Value range 0 256 Basi...

Страница 24: ...lWord 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 Mo...

Страница 25: ...elocity parameter This procedure is reversed in Mode Group 70 Mode Group 60 is therefore used for outside gripping and Mode Group 70 for inside gripping The two mode groups are usually used for an opt...

Страница 26: ...uct 0x0100 Mode Group 70 typically used for inside gripping DeviceMode Action ControlWord 70 Move toward the BasePosition until this position or the workpiece is reached 0x0100 70 Move toward the Work...

Страница 27: ...n 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 6...

Страница 28: ...iece for the Mode Groups 80 and 90 This means that at that point the gripping force is retained by means of the self locking mechanism In Mode Groups 85 and 95 the product attempts to constantly apply...

Страница 29: ...ce until the workpiece or the BasePosition is reached Special movement profile for a faster movement of the product In the open position the product must not be jammed i e it must neither be stopped a...

Страница 30: ...sitionProfile 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...

Страница 31: ...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...

Страница 32: ...eed 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 movemen...

Страница 33: ...ion Write Transfer Cyclical Value range 0 75 to max jaw 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 th...

Страница 34: ...ched on 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 o...

Страница 35: ...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...

Страница 36: ...um travel path per gripper jaw mm LWR50L 21 00001 A 3 LWR50L 21 00002 A 3 LWR50L 22 00001 A 1 LWR50L 22 00002 A 1 11 7 Referencing by Homing NOTICE Before each homing command make sure that the produc...

Страница 37: ...viceMode 10 Depending on installation size the gripper jaws move slightly beyond the edge of the gripper housing when moving to home position Homing INSTALLATION AND OPERATING INSTRUCTIONS LWR50L 21 L...

Страница 38: ...d 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...

Страница 39: ...e parameters to the product with a handshake ControlWord 1 BasePosition must not be smaller than 75 The gripper jaws move outward until they are stopped by an external end stop or the maximum jaw posi...

Страница 40: ...e parameters to the product with a handshake ControlWord 1 WorkPosition must not be greater than 75 The gripper jaws move inward until they are stopped by an external end stop or the maximum jaw posit...

Страница 41: ...sWord the communication process can start Transmit the process parameters to move the product DeviceMode WorkpieceNo PositionTolerance GripForce DriveVelocity BasePosition ShiftPosition TeachPosition...

Страница 42: ...OK bit AND MotorON in the StatusWord ControlWord 0 Reset of the initialization iStep 20 Jump to the next step END_IF 20 IF NOT StatusWord 12 THEN Query for completion of the data transfer DataTransfer...

Страница 43: ...be reset Send the ControlWord 0x0004 to delete the 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...

Страница 44: ...rom 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 data transfer...

Страница 45: ...he 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...

Страница 46: ...t can be mechanically opened with an Allen key in the event of a power failure bs Remove the protective cap to reach the emergency release Design size Wrench size mm LWR50L 21 series 2 LWR50L 22 serie...

Страница 47: ...were set in the ControlWord In the ControlWord check that only one bit is set 0x0301 Positions are not plausible Transmitted positions are not plausible Modified process data were not taken over Check...

Страница 48: ...t 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 te...

Страница 49: ...e 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 TeachPositi...

Страница 50: ...the 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 contam...

Страница 51: ...ging Partner 19 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...

Страница 52: ...are that 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...

Страница 53: ...EN ISO 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 i...

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