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INSTALLATION AND

OPERATING

INSTRUCTIONS

MATCH 2-jaw parallel gripper

LWR50L-24 series

MATCH 3-jaw concentric gripper

LWR50L-25 series

DDOC01073

THE KNOW-HOW FACTORY

www.zimmer-group.com

Содержание MATCH LWR50L-24 Series

Страница 1: ...INSTALLATION AND OPERATING INSTRUCTIONS MATCH 2 jaw parallel gripper LWR50L 24 series MATCH 3 jaw concentric gripper LWR50L 25 series DDOC01073 THE KNOW HOW FACTORY www zimmer group com...

Страница 2: ...ion The value of the parameter acts in both directions StatusWord In its bits returns the most important information about the status of the product to the control system Teach Adjust Programming Adju...

Страница 3: ...nsportation storage preservation 17 10 Installation 18 10 1 Installing the product 18 10 1 1 Installing the MATCH robot module and MATCH gripper 19 10 2 Installing the energy supply 20 10 3 Static cha...

Страница 4: ...U 36 15 Maintenance 37 16 Decommissioning disposal 37 17 RoHS declaration 38 18 REACH declaration 38 19 Declaration of Incorporation 39 20 Declaration of Conformity 40 INSTALLATION AND OPERATING INSTR...

Страница 5: ...ng 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 c...

Страница 6: ...holes or threads 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 adj...

Страница 7: ...ounded Touch electronic components only in appropriately identified areas with conductive flooring and only if You are grounded by means of special bracelets You wear shoes that are suitable and appro...

Страница 8: ...4 V DC power supply The maximum operating pressure for pneumatic operation of the products is 4 to 6 bar for spring variant NC SC NO SO 3 to 8 bar for universal operation N S The product must always b...

Страница 9: ...communication interfaces MATCH is compatible with all common lightweight robots The system can be mounted on the robot flange and set up with a few manual adjustments The product is a safe quick chang...

Страница 10: ...GPP5006N IL 10 A LWR50L 24 00002 A GPP5006NC IL 10 A LWR50L 24 00003 A GPP5006NO IL 10 A LWR50L 24 00004 A GPP5006S IL 10 A LWR50L 24 00005 A GPP5006SC IL 10 A LWR50L 24 00006 A GPP5006SO IL 10 A LWR...

Страница 11: ...a gate Despite its small installation space the product is suited for gripping a wide range of form fit and frictional fit parts The product can be easily integrated into the existing control system T...

Страница 12: ...or WorkPosition Blue LED flashes every second Currently not assigned Red LED lights up continuously The product has a fault Red LED flashes every second No connection to the IO Link Orange LED lights...

Страница 13: ...ond if the lockings are extended and make contact in the MATCH robot module When the MATCH robot module and MATCH gripper are joined the internal spring pin contacts for signal transmission are contac...

Страница 14: ...TCH 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: ...te Please contact Zimmer Customer Service if you have any questions 6 5 Gripping force retention INFORMATION For products with integrated springs the springs help retain the gripping force in the even...

Страница 16: ...nection between MATCH robot module and MATCH gripper has a mechanical self locking mechanism to ensure that the workpiece remains held by the product in the event of a power supply failure such as an...

Страница 17: ...ort 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 pro...

Страница 18: ...Risk of injury due to uncontrolled movements Risk of injury in the event of uncontrolled movement of the product when the power supply is connected Switch off the power supply to the machine before c...

Страница 19: ...anually Automatic exchange The MATCH robot module is moved to the MATCH gripper in the MATCH storage station and locked by means of the MATCH storage station see Sensors section Rotation prevention Th...

Страница 20: ...rges cannot be dissipated if the product 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...

Страница 21: ...e product Name Data type ControlWord UINT16 DeviceMode UINT8 WorkpieceNo UINT8 TeachPosition UINT16 Reserve UINT8 PositionTolerance UINT8 Control system Gripper Input Output Name Data type StatusWord...

Страница 22: ...u will need the zip file for import into the control system 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 tim...

Страница 23: ...nFlag 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 the product that it should write...

Страница 24: ...hether an error can be reset is shown in the Error Diagnosis section 11 3 2 DeviceMode INFORMATION DeviceMode can be used to select the universal operation travel mode The transmitted process data mus...

Страница 25: ...UINT8 Read 100 109 Value 100 universal operation with inside or outside gripping Value 109 ignore position error 2 TeachPosition UINT16 Read 0 to max stroke This value can be used to change the workpi...

Страница 26: ...workpiece is expected The PositionTolerance functions around this position Thus the product can distinguish whether a correct or incorrect workpiece has been gripped Confir mation that the correct wo...

Страница 27: ...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 t...

Страница 28: ...rrect gripping The TeachPosition tolerance can be adjusted in another process parameter For sensing the correct position via the ACTUAL position the tolerances and fluctuations of the value must be ob...

Страница 29: ...ing commissioning be aware of fluctuations around the exact value if you use ActualPosition to detect the workpiece 11 4 Easy Startup Describes the process from switching on the product to the initial...

Страница 30: ...rolWord 0 Reset of 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 ControlWord 1 Data transfer to the product...

Страница 31: ...rection 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 in...

Страница 32: ...sWord 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 DataTrans...

Страница 33: ...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 DataTransfe...

Страница 34: ...e is not plausible Transmitted PositionTol erance is not plausible Check the transmitted process data 0x0306 DeviceMode is not plausible Transmitted DeviceMode is not plausible Check the transmitted p...

Страница 35: ...fluenced by an external magnetic field Check whether the required distance between the sensor and ferromagnetic materials is maintained Please contact Zimmer Customer Service INSTALLATION AND OPERATIN...

Страница 36: ...on 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 Workp...

Страница 37: ...TCH gripper for quick change system is guaranteed for up to 100 000 change cycles hot plug The maintenance interval may be shortened under the following circumstances Dirty environment Improper use an...

Страница 38: ...ature Managing Partner 18 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 grou...

Страница 39: ...cturer We also declare 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 v...

Страница 40: ...been used DIN EN ISO 12100 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...

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