Zimmer GEP2013IL-43 Installation And Operating Instructions Manual

INSTALLATION AND
OPERATING
INSTRUCTIONS
2-jaw parallel grippers electric
GEP2000IL-03 series
GEP2000IL-43 series
DDOC01219
THE KNOW-HOW FACTORY
www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
Parameter explanation (glossary)
Parameter
Explanation
BasePosition
Outer jaw position
Depending on the application, this can be the base position or the work position.
ActualPosition
Value of the current position of the product [1/100 mm]
ControlWord
Activation of the product
Only one bit is permitted to be active in the word. The value "0" is also permitted.
DeviceMode
Used to select gripping profiles as well as the additional help modes in the product.
Diagnosis
If an error occurs, outputs a diagnostic code that can be compared with the error list.
DIR
Direction/24 V cable connection - Depending on the product, this signal is used to move the
product.
Error
Fault
GND
Abbreviation for ground connection
GripForce
Setting the gripping force
Offset
PositionTolerance
ShiftPosition
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 jaws can be
taught in as the new workpiece position.
Adjust is used to define the reachable end positions of the gripper jaws.
Traversing routine
Travel path
WorkpieceNo
WorkPosition
Actual workpiece position
Defined procedure for movement of the gripper jaws
Path on which the gripper jaws travel.
Selection of the workpiece recipes stored in the product
Inner jaw position
Depending on the application, this can be the end position or the work position.
Function which, in case of workpiece loss, causes the product to move to the end position.
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Workpiece loss
detection
Tolerance range for TeachPosition, BasePosition and WorkPosition
The value of the parameter acts in both directions.
ShiftPosition is a switching position between pre-positioning and gripper movement.
StatusWord
TeachPosition
Correction value
2
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
Content
1
Supporting documents................................................................................................................................................................ 5
1.1
Notices and graphics in the installation and operating instructions................................................................................................................................5
2
Safety notices................................................................................................................................................................................ 6
3
Proper use..................................................................................................................................................................................... 7
4
Personnel qualification................................................................................................................................................................. 7
5
Product description...................................................................................................................................................................... 8
5.1
Possible applications............................................................................................................................................................................................................8
5.3
Type plate..............................................................................................................................................................................................................................8
5.2
6
Forces and torques...............................................................................................................................................................................................................8
Functional description.................................................................................................................................................................. 9
6.1
LED status display..............................................................................................................................................................................................................10
6.3
Verified configuration examples........................................................................................................................................................................................10
6.2
6.4
Control.................................................................................................................................................................................................................................10
Self-locking mechanism.....................................................................................................................................................................................................10
7
Technical data............................................................................................................................................................................. 11
8
Accessories/scope of delivery.................................................................................................................................................. 11
9
Transportation/storage/preservation........................................................................................................................................ 11
10 Installation................................................................................................................................................................................... 12
10.1 Installing the product..........................................................................................................................................................................................................13
10.2 Safe shutoff for products with IO-Link...............................................................................................................................................................................14
10.3 Installing the energy supply...............................................................................................................................................................................................15
10.3.1 Pin assignment.....................................................................................................................................................................................................15
10.4 Static charge.......................................................................................................................................................................................................................16
10.5 Heat dissipation..................................................................................................................................................................................................................16
10.6 Installing accessories.........................................................................................................................................................................................................16
11 Commissioning........................................................................................................................................................................... 17
11.1 Process data ......................................................................................................................................................................................................................17
11.2 IODD Import........................................................................................................................................................................................................................18
11.3 Handshake Data Transfer Method.....................................................................................................................................................................................18
11.4 Parameters..........................................................................................................................................................................................................................19
11.4.1 ControlWord..........................................................................................................................................................................................................19
11.4.2 DeviceMode..........................................................................................................................................................................................................21
11.4.3 WorkpieceNo........................................................................................................................................................................................................25
11.4.4 PositionTolerance.................................................................................................................................................................................................25
11.4.5 GripForce..............................................................................................................................................................................................................26
11.4.6 DriveVelocity.........................................................................................................................................................................................................26
11.4.7 BasePosition.........................................................................................................................................................................................................27
11.4.8 TeachPosition........................................................................................................................................................................................................27
EN / 2022-10-10
11.4.9 WorkPosition.........................................................................................................................................................................................................27
11.4.10 StatusWord............................................................................................................................................................................................................28
11.4.11 Diagnosis...............................................................................................................................................................................................................30
11.4.12 ActualPosition.......................................................................................................................................................................................................30
11.5 Minimum travel path...........................................................................................................................................................................................................31
11.6 Minimum startup path........................................................................................................................................................................................................31
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11.7 Easy Startup........................................................................................................................................................................................................................31
11.8 Quickstart Basic Parameters.............................................................................................................................................................................................32
11.9 Starting the gripping movement........................................................................................................................................................................................33
11.10 Repeated movements in the same direction....................................................................................................................................................................33
11.11 Recipe examples................................................................................................................................................................................................................34
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
3
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.11.1 Save recipe............................................................................................................................................................................................................34
11.11.2 Loading a recipe...................................................................................................................................................................................................35
12 Operation..................................................................................................................................................................................... 36
12.1 Setting the gripping force..................................................................................................................................................................................................36
12.2 Emergency release.............................................................................................................................................................................................................36
13 Gripping force charts.................................................................................................................................................................. 36
14 Error diagnosis............................................................................................................................................................................ 37
14.1 Status in LED display for error...........................................................................................................................................................................................39
15 Table with acyclic data (ISDU)................................................................................................................................................... 40
16 Maintenance................................................................................................................................................................................ 42
17 Decommissioning/disposal....................................................................................................................................................... 42
18 RoHS declaration........................................................................................................................................................................ 43
19 REACH declaration..................................................................................................................................................................... 43
20 Declaration of Incorporation...................................................................................................................................................... 44
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21 Declaration of Conformity.......................................................................................................................................................... 45
4
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
1 Supporting documents
NOTICE
Read through the installation and operating instructions before installing or working with the product.
The installation and operating instructions contain important notes for your personal safety. They must be read
and understood by all persons who work with or handle the product during any phase of the product lifetime.
The documents listed below are available for download on our website www.zimmer-group.com.
• Installation and operating instructions
• Catalogs, drawings, CAD data, performance data
• Information on accessories
• Technical data sheets
• General Terms and Conditions, including warranty information.
Ö Only those documents currently available on the website are valid.
In these installation and operating instructions, "product" refers to the product designation on the title page!
1.1 Notices and graphics in the installation and operating instructions
DANGER
This notice warns of an imminent danger to the life and health of people. Ignoring these notices can lead to
serious injury or even death.
► You absolutely must comply with the described measures for avoiding 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
This notice warns of a situation that is potentially hazardous for people or that may result in material or environmental damage. Ignoring these notices may result in slight, temporary injuries or damage to the product or to the
environment.
► You absolutely must comply with the described measures for avoiding these dangers!
Ö The warning symbols are assigned according to the type of danger.
NOTICE
General notices contain usage tips and valuable information, but no warnings of dangers to health.
INFORMATION
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This category contains useful tips for handling the product efficiently. Failure to observe these tips will not result
in damage to the product. This information does not include any information relevant to health or workplace
safety.
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
2 Safety notices
CAUTION
Risk of injury and material damage in case of non-compliance
Installation, commissioning, maintenance and repairs may only be performed by qualified specialists in
accordance with these installation and operating instructions.
The product is state-of-the-art.
It is fitted to industrial machines and is used to hold, transport and store workpieces.
The following are examples of situations in which the product may cause a hazard:
• The product is not properly installed, used or maintained.
• The product is not used for its designated purpose.
• The locally applicable regulations, laws, directives or guidelines are not observed.
► The product may only be used in accordance with these installation and operating instructions and the
product's technical data. Any changes or additions to the intended use of the product, as well as modifications
to the 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 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, maintain or repair the
product.
► Whenever work is carried out on the product, make sure that the product cannot be actuated by mistake.
► Perform maintenance tasks, renovation work or attachment work outside of the machine's danger zone when
possible.
► Do not reach into the operational range of the product.
► Observe the specified maintenance intervals and specifications regarding the quality of the operating material.
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► When using the product under extreme conditions, adjust the maintenance interval according to the degree of
contamination.
6
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
3 Proper use
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.
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 when it is in a technical condition that corresponds to the guaranteed parameters
and operating conditions.
Ö Zimmer GmbH shall accept no liability for any damage caused by improper use. The operator bears sole
responsibility.
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 use.
The product is to be used as intended in enclosed rooms for temporary gripping, handling and holding.
The product is not suitable for clamping workpieces during a machining process.
Direct contact with perishable goods/food is not permitted.
Observance of the technical data and of the installation and operating instructions are part of proper use.
4 Personnel qualification
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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.
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
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
5.1 Possible applications
Outside gripping
Inside gripping
MoveToWork command
MoveToBase command
The product can be used for outside gripping.
The product can be used for inside gripping.
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.
5.3 Type plate
A type plate is attached to the housing of the product.
am
an
XXX
XX-XXXXXX
am Article number
an Confirmation number
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The article number and confirmation number are shown on the type
plate.
8
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
6 Functional description
The gripper jaws of the product are arranged parallel to each other on two opposing guide rails and can be moved relative
to each other.
The force of the motor is transmitted by a worm drive. A pinion and a rack generate the movement of the gripper 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 force to the workpiece by using the control system via IO-Link.
1 Power supply
2 Emergency release
3 Gripper jaw
1
2
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3
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
6.1 LED status display
4
5
4 Power/communication
5 Error
6.2 Control
INFORMATION
► You can find the information in the technical data sheet on our website.
► Please contact Zimmer Customer Service if you have any questions.
6.3 Verified configuration examples
INFORMATION
► You can find the information in the technical data sheet on our website.
6.4 Self-locking mechanism
INFORMATION
The product has a mechanical 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 have any questions.
DDOC01219 / c
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► Please contact Zimmer Customer Service if you have any questions.
10
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
7 Technical data
INFORMATION
► You can find the information in the technical data sheet on our website.
This data varies within the series, depending on the specific design.
► Please contact Zimmer Customer Service if you have any questions.
8 Accessories/scope of delivery
INFORMATION
If any accessories not sold or authorized by Zimmer GmbH are used, the function of the product cannot be
guaranteed. Zimmer GmbH accessories are specifically tailored to the individual products.
► For optional accessories and those included in the scope of delivery, refer to our website.
9 Transportation/storage/preservation
► Transport 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 an extended period, the following points are to be observed:
► Keep the storage location as dust-free and dry as possible.
► Avoid temperature fluctuations/observe and adhere to the temperature range.
► Avoid wind/drafts/water condensation formation.
► Cover the product with a weatherproof, tear-resistant foil to prevent dust.
► Pack the product and do not expose it to direct sunlight during storage.
► Clean all components. There must be no soiling left on the components.
► Visually inspect all components.
► Remove all foreign substances.
► Properly remove potential corrosion spots.
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► Close electrical connections using suitable covers.
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
11
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
10 Installation
WARNING
Risk of injury due to uncontrolled movements
Risk of injury in case of unexpected movement of the machine or system into which the product is to be installed.
► Switch off the energy supply of the machine before any work.
► Secure the power supply against being switched on unintentionally.
► Check the machine for any residual energy that may be present.
CAUTION
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 carrying out any work.
► 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.
INFORMATION
Requirements for the mounting surface:
• Permissible unevenness [mm]: 0.03
• Cleanliness of the mounting surfaces of the product and mounting piece (product grounding)
Further installation information:
• The mounting screws are not included in the scope of delivery.
• Strength class of the mounting screws is at least 8.8 (DIN EN ISO 4762)
► Make sure that the mounting piece is sufficiently rigid.
► Observe the tightening torque of the mounting screws.
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► Verify the permitted load capacity of the required screw connections in accordance with VDI 2230.
12
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
10.1 Installing the product
The product can be installed from multiple
sides.
► Insert the centering sleeves into the
provided fits on the product.
6
7
► Position the product on the mounting piece
using centering sleeves.
► Mount the product on the mounting piece
using the appropriate mounting screws.
6 Mounting screw
7 Centering Disc
INFORMATION
► Use an adapter plate if necessary.
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► For information on optional accessories and those included in the scope of delivery, refer to our website.
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
13
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
10.2 Safe shutoff for products with IO-Link
INFORMATION
For safe shutoff for IO-Link products, two contactors are switched in series with one auxiliary contact each. Here,
the auxiliary contacts monitor the status of the contactors. If one contactor does not switch, the second contactor
ensures safety. The malfunction can still be detected using the contacts.
The following figure shows the example of a circuit through which the IO-Link master cannot conduct the load current of the
product.
1
K1
5
gr
PGND
4
sw
SGND
3
bl
3
4
5
2
3
4
5
Bosch_Timo_Plan.0007_images\image3.jpg
4
2
3
4
5
n.c.
1
V2 (+)
GND V1
GND V2
V1 (+)
2
3
4
V2 (+)
GND V1
GND V2
Fieldbus
IN
3
4
3
1
1
4
4
S2
Fieldbus
OUT
Bosch_Timo_Plan.0007_images\image2.jpg
1
4
3
Bosch_Timo_Plan.0007_images\image0.jpg
3
1
C/Q
4
GND V2
4
DXP
3
2
2
1
C/Q
S24V
P24V
1
2
1
V2 +
Fieldbus
IN
V1 (+)
3
SW
Bosch_Timo_Plan.0007_images\image1.jpg
1
1
S1
3
IO-Link gripper
Y-cable
Power supply for IO-Link
1
1
GND V2
V2 (+)
BL
GND V1
V1 (+)
WS
5
M12 5pol 5m
Power
IN
BR
4
2
2
W1
3
1
ws
Feedback circuit
Q1 & Q2
br
22
21
22
21
6
5
6
.
3
GND_US
GND_UA
+24V_US
2
4
Q2
+24V_UA
4
3
3
2
.
1
1
.
2
.
.
4
.
.
.
PE
.
.
.
1
.
2
Q1
.
1
contact
5 Q1 & Q2
3 Auxiliary
2
1
F2
2
F1
Rk_1
Up
GND Up
Us
GND Us
PE
Rk_2
Up
GND Up
Us
GND Us
PE
Fieldbus
OUT
X01
Voltage IN
IO-Link master with port class A
Without an externally fed voltage supply, the motor of the product cannot carry out an active movement and thus
cannot carry out a hazardous movement.
There is no galvanic isolation between the two voltage supplies (signal and power). There is a low-voltage
connection via ground (GND).
Because of the self-locking mechanism, the product remains in the last approached position, even if no voltage is
supplied.
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NOTICE
Voltage OUT
14
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
10.3 Installing the energy supply
NOTICE
The cables that are used by Zimmer GmbH feature a minimum bending radius of 10 x the outer diameter.
This bending radius must not be undershot!
► Freely suspended cables must be secured to prevent excessive motion loads or pinching.
► The contacts of the energy supply must be dry, clean and undamaged at all times.
Ö Damage to the contacts can result in malfunction of the product.
► Connect the power supply cable to the
control system of the product.
10.3.1 Pin assignment
pin
Color
Function
Explanation
2
White
+ 24 V DC actuator
Actuator supply voltage
1
3
4
5
Brown
Blue
Black
Gray
+ 24 V DC sensor
GND sensor
C/Q
GND actuator
IO-Link communication supply
4
0 V DC sensor supply voltage
1
0 V DC actuator supply voltage
M12 5-pin plug
IO-Link communication
5
3
2
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► Connect the product to the IO-Link master.
► Ensure the proper voltage supply.
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
10.4 Static charge
CAUTION
Material damage from static charge
Material damage can result from contact of ESD-sensitive parts with the product.
► It is mandatory to ground the gripper fingers.
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 through the workpiece.
10.5 Heat dissipation
In the event 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 basis, this might
reduce its service life.
INFORMATION
Ö The cycle time must therefore be reduced as the temperature increases.
10.6 Installing accessories
NOTICE
Before installing an accessory, make sure it is suitable for use with the selected variant.
► You can find information on our website.
DDOC01219 / c
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► Please contact Zimmer Customer Service if you have any questions.
16
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11 Commissioning
11.1 Process data
There is an option to control the product only with the process data that is transmitted in each cycle.
Outputs: Process data from the IO-Link master to the product!
Name
Data type
DeviceMode
UINT8
ControlWord
WorkpieceNo
Reserve
PositionTolerance
GripForce
DriveVelocity
BasePosition
Reserve
TeachPosition
WorkPosition
UINT16
UINT8
UINT8
UINT8
UINT8
UINT8
UINT16
UINT16
UINT16
UINT16
Input
Control system
Gripper
Output
Name
Data type
Diagnosis
UINT16
StatusWord
UINT16
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ActualPosition
UINT16
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.2 IODD Import
► Import the IODD (device description) into the control system.
► Go to our website.
► Select the desired product.
► Download the corresponding .zip file via the Download IODD link.
Ö You will need the .zip file for import into the control system.
Ö As soon as the hardware configuration is complete and the IO-Link connection to the product is established, data will be
displayed in the process input data.
Ö Some control systems demand a byte swap to bring this process data into a logical sequence.
► Look at bit 6 (GripperPLCActive) in the StatusWord to determine whether a byte swap is necessary.
► Determine whether bit 6 is active in the first or second byte of the StatusWord.
Ö Bit 6 is active in the first byte: The bytes already have the correct sequence.
► Continue with the commissioning.
Ö Bit 6 is active in the 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 5 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 described in the
following sections must be transferred with the handshake.
► Send the ControlWord = 0x0001 to the product.
Ö The data transfer was started.
► Check the response of the product by using Statusbit 12 = TRUE (data transfer OK).
► Send the ControlWord = 0x0000 to stop the data transfer.
Ö The data transmission is complete when the product sends back Statusbit 12 = DataTransferOK = FALSE.
INFORMATION
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► For examples, refer to the "Quickstart Basic Parameters" section.
18
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.4 Parameters
11.4.1 ControlWord
NOTICE
In the ControlWord parameter, only one single bit or the value 0 may be set at a time. Only the values listed in the
following table are valid.
Parameter
Decimal value
Hexadecimal value
WritePDU
2
0x0002
DataTransfer
1
ResetDirectionFlag
0x0001
4
Teach
0x0004
8
MoveToBase
0x0080
256
MoveToWork
0x0100
512
JogToWork +
0x0200
1024
JogToBase -
0x0400
2048
ErrorReset
0x0800
32768
0x8000
Name
ControlWord
Permission
Write
Data format
UINT16
Transfer
Cyclical
Value range
0 ... 65535
Byte 1
Bit 15
ErrorReset
Bit 14
-
Bit 13
-
Bit 12
-
Bit 11
JogToBase
Bit 10
JogToWork
Bit 9
Bit 8
MoveToWork MoveToBase
Byte 2
Bit 7
-
Bit 6
-
Bit 5
-
Bit 4
-
Bit 3
Teach
Bit 2
Bit 1
ResetDirec- WritePDU
tionFlag
Bit 0
DataTransfer
Bit 0: DataTransfer
Setting this bit causes the product to acquire the data transmitted in the process data ("WorkpieceNo" = 0) or the data
stored in the workpiece data ("WorkpieceNo" = 1 to 32) as the active data set.
Setting this bit tells the product that the direction flag needs to be reset. This function is available starting from Application
Firmware Version SWA000170_A00, see Chapter "Table of acyclic data (ISDU)" Index 0x0017.
Bit 1: WritePDU
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Setting this bit tells the product that it should write the current process data to the selected workpiece recipe.
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19
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
Bit 2: ResetDirectionFlag
Setting this bit tells the product that the direction flag needs to be reset. This makes a repeated movement to a position
possible. This is logical during a switchover of workpiece recipes.
NOTICE
► Please note that the product can be damaged from overheating due to repeated, prompt movement to the end
stop or with a gripped workpiece.
Bit 3: Teach
Setting this bit tells the product to save the current position as the TeachPosition in the selected WorkpieceNo. This only
works if there is no "0" that is transmitted in the workpiece number.
Bit 8: MoveToBase
Setting this bit tells the product to move toward the BasePosition.
Bit 9: MoveToWork
Setting this bit tells the product to move toward the WorkPosition.
Bit 10: JogToWork
Setting this bit in the ControlWord puts the product in jog mode and slowly moves it toward the WorkPosition. If the bit is
reset, the product stops.
Bit 11: JogToBase
Setting this bit in the ControlWord puts the product in jog mode and slowly moves it toward the BasePosition. If the bit is
reset, the product stops.
Bit 15: ErrorReset
DDOC01219 / c
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This bit can be used to acknowledge all errors that can be reset. Whether an error can be reset is shown in the "Error
Diagnosis" section.
20
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.4.2 DeviceMode
INFORMATION
DeviceMode is used to select one of the following travel modes: universal operation, outside gripping or inside
gripping. Zimmer GmbH recommends DeviceMode 63, 73 and 103.
Input
Mode
Description
73
Inside gripping with subsequent
current feed
103
Universal operation with
subsequent current feed
Like Mode 70, but with an activated 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
feed.
11
Activate jog mode.
50
Positioning mode
60
Outside gripping
70
Inside gripping
100
Universal mode
63
Outside gripping with subsequent
current feed
Like Mode 60, but with an activated subsequent current feed
for a time of 500 ms when the direction of movement is Work.
To achieve the best gripping results, the gripped workpiece
must be transported further during the subsequent current
feed.
Like Mode 100, but with an activated subsequent current feed
for a time of 500 ms in both directions.
To achieve the best gripping results, the gripped workpiece
must be transported further during the subsequent current
feed.
Product is in jog mode and moves slowly in the selected
direction as long as the respective bit is active in the
ControlWord.
Product moves in the PositionProfile. The movement speed is
configured using the DriveVelocity parameter.
Inward with the desired gripping force, outward with the
desired speed.
Outward with the desired gripping force, inward with the
desired speed.
Inside and outside gripping, both movements at the same
speed depending on the desired gripping force.
Name
DeviceMode
Permission
Write
Data format
Transfer
Cyclical
11, 50, 60, 63, 70, 73, 100, 103
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Value range
UINT8
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21
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.4.2.1 PositionProfile
This mode can be used for positioning the product or for form-fit gripping.
DriveVelocity [%]
0 point
BasePosition [1/100 mm]
WorkPosition [1/100 mm]
Parameter
Description
WorkPosition
Closed position
BasePosition
Open position
GripForce
TeachPosition
Not used
PositionTolerance
DriveVelocity
Not used
Not used
Movement speed
The movement speed is configured using the DriveVelocity parameter.
The TeachPosition 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 issues an error message.
The product can be moved from the obstacle back to the starting position if the command is switched in the ControlWord.
DDOC01219 / c
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No defined gripping forces can be generated in this mode. As a result, friction-locked gripping is not permitted in this mode.
22
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.4.2.2 ForceProfile
This mode can be used for frictional fit gripping.
The gripping force is built up by the movement speed of the jaws and the motor current. When gripping a workpiece, an
independent mechanical locking system in the mechanical system is reached that makes it possible to hold the workpiece
de-energized.
TeachPosition
GripForce [%]
PositionTolerance
0 point
BasePosition [1/100 mm]
WorkPosition [1/100 mm]
Parameter
Description
WorkPosition
Closed position – behind the workpiece
BasePosition
GripForce
TeachPosition
PositionTolerance
DriveVelocity
Open position
Desired gripping force
Expected position of the workpiece
Permitted tolerance for the workpiece
Opening speed
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Since gripping should occur in one direction only, the positioning mode is used automatically in the opposite direction. To
do this, the product switches into positioning mode automatically when moving in the opening direction.
The movement profile determines the direction in which the workpiece is gripped:
• Outside gripping: Movement profile group 60
• Inside gripping: Movement profile group 70
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23
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
NOTICE
The product begins the braking process shortly before reaching the desired position in order to be able to
position itself exactly at the set WorkPosition and BasePosition.
Braking ahead of the target position can be deactivated using the following parameters in order ensure that full
gripping force is reached:
DeviceMode
Parameters for disabling the braking ramp
70, 73 (inside gripping)
BasePosition = 0
60, 63 (outside gripping)
WorkPosition = max. position, see "WorkPosition Parameter" section
Mode Group 60 – typically used for outside gripping
DeviceMode
Action
ControlWord
63
Move toward the BasePosition to open the product.
0x0100
63
Move toward the WorkPosition until this position or the workpiece is reached.
0x0200
Mode Group 70 – typically used for inside gripping
DeviceMode
Action
ControlWord
73
Move toward the WorkPosition for opening the product.
0x0200
73
Move toward the BasePosition until this position or the workpiece is reached.
0x0100
11.4.2.3 Current feed profile for a gripping process with DeviceMode 63, 73, 103
I
movement
subsequent current feed
workpiece loss detection
standstill
t
Move com- Workpiece gripmand
ped
In case of workpiece loss, the product moves to the end position and outputs a message.
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NOTICE
500 ms after a gripped workpiece
24
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.4.3 WorkpieceNo
The workpiece number is used for selecting the previously stored workpiece data, as well as for selecting the WorkpieceNo
data record in which the current process data is stored.
WorkpieceNo enables individual workpieces to be taught in to the product very quickly if the recipes are not managed on
the control system.
INFORMATION
For example codes, refer to the "Quickstart Basic Parameters" and "Recipe Examples" sections.
Name
WorkpieceNo
Permission
Write
Data format
Transfer
Value range
UINT8
Cyclical
0 ... 32
At a value > 0, the 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 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 means that the TeachPosition range starts at 13.50 mm and goes all the way up to 16.50 mm.
Name
PositionTolerance
Permission
Write
Data format
Transfer
Cyclical
0 ... 255
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Value range
UINT8
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25
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.4.5 GripForce
The product can use various gripping forces and gripping speeds to achieve an optimized flow of the gripping process.
Since the product generates gripping force from the gripping speed and the amperage, the gripping force setting also
conversely influences the gripping speed and amperage. The gripping force can be adjusted in four stages.
INFORMATION
► For the values for the gripping force, refer to the technical data sheet on our website.
This data varies within the series, depending on the specific design.
► Please contact Zimmer Customer Service if you have any questions.
Name
GripForce
Permission
Write
Data format
UINT8
Transfer
Cyclical
Value range
1
Level 1
3
Level 3
2
4
Level 2
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 of the product in both directions in PositionProfile.
In the other modes, this parameter determines the movement speed from the workpiece.
INFORMATION
► For the values for the speed, refer to the technical data sheet on our website.
This data varies within the series, depending on the specific design.
► Please contact Zimmer Customer Service if you have any questions.
Name
DriveVelocity
Permission
Write
Data format
Transfer
Value range
UINT8
Cyclical
1
Level 1
3
Level 3
2
Level 4
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4
Level 2
26
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.4.7 BasePosition
The BasePosition defines the target position in the MoveToBase direction. It must always be less than the WorkPosition.
The product verifies this and, if necessary, displays an error message.
If the current position of the product within the tolerance range is in the vicinity of the BasePosition, bit 8 is set in the
StatusWord.
Name
BasePosition
Permission
Write
Data format
UINT16
Transfer
Cyclical
Value range
0 ... WorkPosition
11.4.8 TeachPosition
The TeachPosition notifies the product of the expected position of the workpiece. The tolerance range around the expected
position of the workpiece is defined 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 values:
Product
BasePosition
WorkPosition
TeachPosition
GEP2006IL-43
0
2000
0 to max. 2000
GEP2006IL-03
GEP2010IL-03
GEP2010IL-43
GEP2013IL-03
GEP2013IL-43
GEP2016IL-03
GEP2016IL-43
0
0
0
0
0
0
0
1200
2000
0 to max. 2000
2600
0 to max. 2600
2600
0 to max. 2600
3200
0 to max. 3200
3200
0 to max. 3200
4000
0 to max. 4000
Name
TeachPosition
Permission
Write
Data format
Transfer
Value range
0 to max. 1200
UINT16
Cyclical
0 to max. jaw stroke of the product
11.4.9 WorkPosition
The WorkPosition defines the maximum travel path of the product and has to be greater than the BasePosition.
Name
WorkPosition
Permission
Write
Data format
Transfer
Cyclical
BasePosition to max. jaw stroke of the product
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Value range
UINT16
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.4.10 StatusWord
StatusWord structure:
Byte 1
Bit 15
Error
Byte 2
Bit 7
-
Bit 14
Bit 13
Bit 12
Bit 11
ControlWord ControlWord DataTransferOK Undefined0x0200
0x0100
Position
Bit 6
GripperPLCActive
Bit 5
JogWorkActive +
Bit 4
JogBaseActive -
Bit 3
MovementComplete
Bit 10
WorkPosition
Bit 2
InMotion
Bit 9
TeachPosition
Bit 1
MotorON
Bit 8
BasePosition
Bit 0
HomingPosition OK
Bit 0: HomingPosition OK
The product is calibrated at the factory and does not have to be referenced by the customer.
Bit 1: MotorON
The motor of the product switches on automatically when there is a move command. The customer cannot 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 run in the direction of BasePosition.
Bit 5: JogWorkActive +
Confirmation during the Jog run in the direction of WorkPosition.
Bit 6: GripperPLCActive
Active as soon as the product has booted up after the cold boot.This bit can be used to verify a “byte swap."
Bit 8: BasePosition
Active if the product is set to BasePosition.
Bit 9: TeachPosition
Active if the product is set to TeachPosition.
Bit 10: WorkPosition
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EN / 2022-10-10
Active if the product is set to WorkPosition.
28
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
Bit 11: UndefinedPosition
Active 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 the data using the
parameter ControlWord = 1 (decimal).
Bit 13: ControlWord 0x0100
This bit is a direction flag. Active 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
Active if the product has an active error. The error message can be determined using Diagnosis.
Name
StatusWord
Permission
Read
Data format
Transfer
Value range
UINT16
Cyclical
0 ... 65535
11.4.10.1 Acknowledging an error
If the product has a fault, the error bit is set in the status word.
► Acknowledge the error by sending ControlWord 0x8000.
NOTICE
Not all errors can be reset. For some errors, the error message is not reset after acknowledgment.
In this case, wait until correct values are sent to the product.
Example: Overheating error
INFORMATION
DDOC01219 / c
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► Use StatusWord to verify correct 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
observed during programming.
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29
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.4.11 Diagnosis
The value returned in Diagnosis corresponds to the error code (see "Error Diagnosis" section).
Name
Diagnosis
Permission
Read
Data format
UINT16
Transfer
Cyclical
Value range
0 ... 65535
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 between the BasePosition (minimum values) and the WorkPosition (maximum values).
Product
BasePosition
WorkPosition
TeachPosition
Accuracy [mm]
GEP2006IL-43
0
2000
0 to max. 2000
± 0.05
GEP2006IL-03
GEP2010IL-03
GEP2010IL-43
GEP2013IL-03
GEP2013IL-43
GEP2016IL-03
GEP2016IL-43
0
0
0
0
0
0
0
1200
2000
2600
2600
3200
3200
4000
0 to max. 1200
0 to max. 2000
0 to max. 2600
0 to max. 2600
0 to max. 3200
0 to max. 3200
0 to max. 4000
Name
ActualPosition
Permission
Read
Data format
Transfer
Value range
± 0.05
± 0.05
± 0.05
± 0.1
± 0.1
± 0.1
± 0.1
UINT16
Cyclical
0 to max. jaw stroke of the product
INFORMATION
DDOC01219 / c
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► Use the StatusWord of the product to check whether a workpiece has been gripped correctly.
• The position measurement resolution is 0.01 mm.
• The accuracy of the position measurement depends on the installation size.
► During commissioning, be aware of fluctuations around the exact value if you use the ActualPosition
parameter to detect the workpiece.
30
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.5 Minimum travel path
The product requires a certain minimum travel path to move to the desired position.
Design size
Minimum travel path per gripper jaw [mm]
GEP2006IL-43
1
GEP2006IL-03
GEP2010IL-03
GEP2010IL-43
GEP2013IL-03
GEP2013IL-43
GEP2016IL-03
GEP2016IL-43
1
1
1
1
1
1
1
11.6 Minimum startup path
The product requires a certain minimum startup path to reach the desired gripping force.
Design size
Minimum startup path per gripper jaw [mm]
GEP2006IL-43
0.5
GEP2006IL-03
GEP2010IL-03
GEP2010IL-43
GEP2013IL-03
GEP2013IL-43
GEP2016IL-03
GEP2016IL-43
0.5
0.5
0.5
0,5
0,5
0,5
0,5
11.7 Easy Startup
Describes the process from switching on the product to the initial movement.
► Connect the product according to its assignment diagram.
Ö The product reports the process parameters StatusWord, Diagnosis and ActualPosition immediately after the internal
controller is booted up.
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
GripForce
DriveVelocity
BasePosition
WorkPosition
► Transmit the parameters to the product with a handshake.
INFORMATION
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EN / 2022-10-10
► For more information please refer to the „Handshake Data Transfer Method“ section.
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31
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.8 Quickstart Basic Parameters
In the following example, you see the first initialization of the product, the activation of the motor and the transmission of the
process parameters.
// Initialization of the product
// Motor switch-on
// Initial move command
// = EasyStartUp Example
IF bStart = TRUE THEN
END_IF
iStep
:= 10;
CASE iStep OF
10:
20:
30:
IF StatusWord.6 THEN
DeviceMode
WorkpieceNo
PositionTolerance
GripForce
BasePosition
TeachPosition
WorkPosition
ControlWord
iStep
END_IF
:= 103;
:= 0;
:= 50;
:= 4;
:= 100;
:= 1200;
:= 1200;
:= 1;
:= 20;
IF StatusWord.12 THEN
ControlWord
iStep
END_IF
:= 0;
:= 30;
IF NOT StatusWord.12 THEN
END_IF
100:
;
ControlWord
:= 512;
iStep
:= 100;
// Query for PLCActive bit in the StatusWord
// Command to select the universal mode
// 0 = current process parameters are being used
// Gripping force setting
// Data transfer to the product
// Jump to the next step
// Query for DataTransferOK bit in the StatusWord
// Reset of the ControlWord
// Jump to the next step
// Handshake is completed,
// Product moves to WorkPosition (0x0200 or 512(decimal) = MoveToWork)
// Continue with the program
DDOC01219 / c
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END_CASE
32
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.9 Starting the gripping movement
► Send ControlWord 0x0200 so that the product moves towards the WorkPosition.
Ö The gripper jaws move towards the inside.
► Send ControlWord 0x0100 so that the product moves towards the BasePosition.
Ö The gripper jaws move towards the outside.
• The motion task must be pending for as long as it takes until the desired position is reached.
• The current motion task is canceled as a result of a new handshake.
Ö When the product reaches the corresponding position, this is displayed in the StatusWord as follows:
• The product is at the BasePosition: StatusWord bit 8 = TRUE
• The product is at the TeachPosition: StatusWord bit 9 = TRUE
• The product is at the WorkPosition: StatusWord bit 10 = TRUE
11.10
Repeated movements in the same direction
The StatusWord includes two static flag bits, each of which is set in alternation when the product moves in one direction.
This prevents uncontrolled movements of the product in case of faulty data transmission.
Depending on the location of the positions, it is possible that the product may move multiple times in the same direction.
For this purpose, the direction flags must be reset.
► Send the ControlWord = 0x0004 to delete the direction flags.
Ö 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 Structured Text (ST)
// The product is not capable of accepting multiple move commands in the same direction.
// That is why the direction flag has to be reset in the StatusWord.
// In this example, all process parameters are already correctly transferred.
// The previous move command toward the WorkPosition could not be executed
// because the product is being blocked by a workpiece.
// After the workpiece is removed, the direction flag is reset
// and the move command is restarted.
IF bReset = TRUE THEN
END_IF
iStep
:= 10;
CASE iStep OF
IF Diagnose = 16#307 THEN
iStep
:= 20;
END_IF
20:
30:
ControlWord
:= 4;
iStep
:= 30;
IF NOT StatusWord13 AND NOT
StatusWord14 THEN
END_IF;
100:
ControlWord
iStep
;
:= 512;
:= 100;
// Move command could not be executed.
// Jump to the error step
// to reset the direction flag
// Reset the direction flags
// (ResetDirectionFlag bit = TRUE in the ControlWord)
// Jump to the next step
// Query whether both direction flags
// (Bit ControlWord 0x0100 AND
// ControlWord 0x0200 = FALSE in ControlWord)
// Moves back toward WorkPosition
EN / 2022-10-10
10:
// Continue with the program
DDOC01219 / c
END_CASE
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33
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.11
Recipe examples
11.11.1 Save recipe
The following example code shows how process parameters can be stored in the internal workpiece recipe.
// Store tool workpiece recipes in Structured Text (ST)
IF bStart = TRUE THEN
END_IF
iStep
:= 10;
CASE iStep OF
10:
20:
30:
60:
// Assignment of desired process parameters
// Recipe is to be stored as the third workpiece recipe
ControlWord
iStep
:= 1;
:= 30;
// Begins with the handshake
// Jump to the next step
:= 0;
:= 40;
// Queries the bit DataTransferOK=TRUE from StatusWord,
// Response of the product to transferred data
// Reset the ControlWord
// Jump to the next step
ControlWord
iStep
IF NOT StatusWord.12 THEN
// Jump to the next step
ControlWord
:= 2;
iStep
:= 50;
// Query for completion of the data transfer,
// DataTransferOK = FALSE
// Handshake is completed,
// storage starts here via the WritePDU bit in the ControlWord
// Jump to the next step
IF StatusWord.12 THEN
ControlWord
iStep
END_IF;
:= 0;
:= 60;
// Queries the DataTransferOK = TRUE bit from StatusWord
// Reset the ControlWord
// Jump to the next step
:= 0;
// Query for completion of the data transfer,
// DataTransferOK = FALSE
// Storage is completed
END_IF;
50:
:= 103;
:= 3;
:= 50;
:= 100;
:= 2000;
:= 1;
:= 500;
:= 20;
IF StatusWord.12 THEN
END_IF;
40:
DeviceMode
WorkpieceNo
PositionTolerance
BasePosition
WorkPosition
GripForce
TeachPosition
iStep
IF NOT StatusWord.12 THEN
END_IF;
iStep
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EN / 2022-10-10
END_CASE
34
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INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
11.11.2 Loading a recipe
The following example code shows how process parameters can be loaded to the internal workpiece recipe.
// Load workpiece recipes in Structured Text (ST)
IF bLoad = TRUE THEN
END_IF
iStep
:= 10;
CASE iStep OF
10:
20:
30:
:= 3;
:= 20;
// Load third workpiece recipe
// Jump to the next step
ControlWord
iStep
:= 1;
:= 30;
// Begins with the handshake
// Jump to the next step
:= 0;
:= 40;
// Queries the bit DataTransferOK=TRUE from StatusWord,
// Response of the product to transferred data
// Reset the ControlWord
// Jump to the next step
IF StatusWord.12 THEN
END_IF;
40:
WorkpieceNo
iStep
ControlWord
iStep
IF NOT StatusWord.12 THEN
iStep
END_IF;
:= 0;
// Query for completion of the data transfer,
// DataTransferOK = FALSE
//Handshake is completed,
// Parameters from the third recipe have been taken over into the current process parameters.
DDOC01219 / c
EN / 2022-10-10
END_CASE
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
35
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
12 Operation
NOTICE
In the event of a power failure, the gripper jaws remain in their positions and the gripping force of the product
stays constant.
The gripper jaws can be opened using the emergency release if the energy supply drops off.
► Please contact Zimmer Customer Service if you have any questions.
12.1 Setting the gripping force
For the IO-Link variant, you can adjust the gripping force conveniently by using the 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.
► Remove the protective cap.
► Actuate the emergency release with a
corresponding Allen key.
Design size
Wrench size [mm]
GEP2006IL-43
1.5
GEP2010IL-03
1.5
GEP2010IL-43
1.5
GEP2013IL-03
1.5
GEP2013IL-43
1.5
GEP2016IL-03
2.0
GEP2016IL-43
2.0
GEP2006IL-03
1.5
bn Protective cap
13 Gripping force charts
INFORMATION
► You can find information on our website.
DDOC01219 / c
EN / 2022-10-10
► Please contact Zimmer Customer Service if you have any questions.
36
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
bn
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
14 Error diagnosis
Error code
Error
Possible cause
Measure
0x0002
Position measuring system not
referenced.
• Product is in reference run.
► Please contact Zimmer
Customer Service.
Device is booted up.
-
• The device is in the start
sequence.
0x0100
Actuator power supply is not
present or is too low
0x0101
Temperature above maximum
permitted temperature.
0x0102
Temperature is below minimum
permitted temperature.
• Ambient temperature is too
low.
0x010B
Workpiece lost
0x0300
ControlWord is not plausible.
• Gripping force is not
sufficient
• Workpiece was not gripped
correctly
• Gripper finger geometry
does not match the gripped
workpiece
• Workpiece is too heavy
0x0301
Positions are not plausible.
0x0302
GripForce is not plausible.
0x0303
DriveVelocity is not plausible.
0x0304
PositionTolerance is not
plausible.
0x0103
0x0306
0x0307
Temperature of the power level
is too high
DeviceMode is not plausible.
• Actuator power supply is not
connected
• Actuator power supply is not
sufficient
• Cable break
• Ambient temperature is too
high.
• Overload of the products.
• Surrounding temperature is
too high
• Overload of the product
• Internal defect
-
► Wait until the start sequence
is complete.
► Check the actuator power
supply.
► Provide sufficient ventilation/
cooling/connection.
► Check that the product
moves freely.
► Provide an adequate
operating temperature.
► Ensure improved cooling of
the product.
► Check that the product
moves freely.
► Select a suitable
DeviceMode.
► Check the required gripping
force.
► Check the gripper finger
geometry.
► Reset the error by sending
another move command
back.
• Multiple bits were set in the
ControlWord.
► In the ControlWord, check
that only one bit is set.
• Transmitted GripForce is not
plausible.
► Check the transmitted
process data.
• Transmitted positions are
not plausible.
• Transmitted DriveVelocity is
not plausible.
• Transmitted PositionTolerance is not plausible.
• Transmitted DeviceMode is
not plausible.
Motion task cannot be executed • Multiple motion tasks in the
(CRC error).
same direction.
• Move command transmitted
despite existing error.
► Check the transmitted
process data.
► Check the transmitted
process data.
► Check the transmitted
process data.
► Check the transmitted
process data.
EN / 2022-10-10
0x0003
Device is ready for operation.
► Reset the direction flag.
• through move command
in the opposite direction
• through error reset
• through reset direction
flag
► Send the move command
again.
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
DDOC01219 / c
0x0000
37
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
Error code
Error
Possible cause
Measure
0x0309
TeachPosition was changed.
0x030A
BasePosition was changed.
• Modified process data were
not taken over.
► Apply the process data via a
handshake.
0x030B
ShiftPosition was changed.
0x030C
WorkPosition was changed.
• Modified process data were
not taken over.
► Apply the process data via a
handshake.
0x030D
GripForce was changed.
0x030E
DriveVelocity was changed.
0x030F
TeachTolerance was changed.
0x0310
DeviceMode was changed.
0x0311
WorkpieceNo was changed.
0x0312
Initial state after gripper restart
0x0314
BasePosition ≥ WorkPosition
0x0400
Difficulty of movement
0x040B
Internal error
0x0406
System error
• Internal system error
0x0411
No production parameters
present on the product.
• Internal error
WorkpieceNo cannot be
selected.
• Transmitted workpiece
number is outside the
permitted range.
• Modified process data were
not taken over.
• Modified process data were
not taken over.
• Modified process data were
not taken over.
• Modified process data were
not taken over.
• Modified process data were
not taken over.
• Modified process data were
not taken over.
• Modified process data were
not taken over.
• Modified process data were
not taken over.
• Transmitted BasePosition ≥
transmitted WorkPosition
• Gripper jaws are blocked.
• Gripper jaws are difficult to
move.
• Internal error
► Check the transmitted
process data.
► Apply the process data via a
handshake.
► Apply the process data via a
handshake.
► Apply the process data via a
handshake.
► Apply the process data via a
handshake.
► Apply the process data via a
handshake.
► Apply the process data via a
handshake.
► Apply the process data via a
handshake.
► Apply the process data via a
handshake.
► Check the transmitted
process data.
► Check that the product
moves freely.
► Acknowledge the error.
► Please contact Zimmer
Customer Service.
► Please contact Zimmer
Customer Service.
► Please contact Zimmer
Customer Service.
DDOC01219 / c
EN / 2022-10-10
0x0308
38
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
14.1 Status in LED display for error
⬤ ⬤ Green LED lights up continuously.
• No error
⬤ ⬤ Red LED lights up continuously.
• Actuator supply not OK
⬤ ⬤ Red LED flashes every second.
Green LED flashes every second (at the same time).
• No reference position
• A reference run must be performed.
⬤ ⬤ Red LED flashes every second. Green LED lights up
continuously.
⬤ ⬤ Red LED flashes every second.
Green LED does not light up.
• Process data are invalid.
• Internal error
• A reference run is being performed.
DDOC01219 / c
EN / 2022-10-10
⬤ ⬤ Red LED flashes every second.
Green LED flashes every second (alternating).
• No IO-Link communication
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
39
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
15 Table with acyclic data (ISDU)
INFORMATION
IO-Link distinguishes between cyclical process data (PDU) and acyclic data (ISDU).
Access to acyclic data is not arranged very conveniently for all control system and IO-Link master combinations.
For this reason, the product can be used without acyclic data. This makes it as easy as possible to control the
product.
DDOC01219 / c
EN / 2022-10-10
► Please contact Zimmer Customer Service if you have any questions.
Index
Name
Data
format
Access rights
Values
Description
0x0017
(23)
Firmware version
STRING
Read
-
Status
UINT16
Read
0 ... 65535
Firmware version
• Example: SWA000170_A00
• Type: SWA000170
• Version: A00
0x0040
(64)
0x0041
(65)
Diagnosis
UINT16
Read
0 ... 65535
0x0042
(66)
Cycle counter
UINT32
Read
0x0043
(67)
Temperature
UINT16
Read
0 ...
Current numbers of cycles
4294967295
0x0044
(68)
ControlWord
UINT16
0x0045
(69)
Error code
0x0046
(70)
Reflection of the process data
Reflection of the process data
0 ... 100 °C
Current temperature
Read
0 ... 65535
Reflection of the process data
STRING
Read
1 ... 32
Current error code
Error counter
UINT32
Read
0x0100
(256)
Actual position
UINT16
Read
0 ...
Current error counter
4294967295
0x0101
(257)
TeachPosition
UINT16
Read
0x0102
(258)
WorkpieceNo
UINT8
Read
0x0103
(259)
DeviceMode
UINT8
0x0104
(260)
PositionTolerance
0x0105
(261)
0 to max.
jaw stroke
of the
product
Reflection of the process data
0 to max.
jaw stroke
of the
product
Reflection of the process data
0 ... 32
Reflection of the process data
Read
1 ... 95
Reflection of the process data
UINT8
Read
0 ... 255
Reflection of the process data
GripForce
UINT8
Read
1 ... 130 %
Reflection of the process data
0x0107
(263)
DriveVelocity
UINT8
Read
1 ... 100 %
Reflection of the process data
0x0108
(264)
BasePosition
UINT16
Read
Reflection of the process data
0x0109
(265)
ShiftPosition
UINT16
Read
0 to max.
jaw stroke
of the
product
40
0 to max.
jaw stroke
of the
product
Reflection of the process data
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
Name
Data
format
Access rights
Values
Description
0x010A
(266)
WorkPosition
UINT16
Read
Reflection of the process data
WorkPosition/
BasePosition
tolerance window
UINT16
Read/write
0 to max.
jaw stroke
of the
product
0x0114
(276)
Subindex
1 to 4
0x022f
(559)
Holding current
UINT16
Read/write
0 to 1000
0x0230
(560)
Holding time
UINT16
Read/write
0 to 1000
Amperage [%] for current
after-supply scaled to the
maximum permitted current.
Emergency Mode
UINT16
Read/write
0 to 1
► Setting the BasePosition
and WorkPosition tolerance
window
• Subindex 0: Read/write
• Subindex 1: from BasePosition to the outside
• Subindex 2: from BasePosition to the inside
• Subindex 3: from WorkPosition to the inside
• Subindex 4: from WorkPosition to the outside
► Resetting all changes to
factory settings using an
IO-Link factory reset
Time duration [ms] for current
after-supply
► Deactivation of message
0x0400 by ISDU:
• Index = 562 (decimal)
• Subindex = 0
• Value = 0
► Activation of message
0x0400 by ISDU:
• Index = 562 (decimal)
• Subindex = 0
• Value = 1
DDOC01219 / c
0x0232
(562)
0 ... 65535
EN / 2022-10-10
Index
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
41
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
16 Maintenance
CAUTION
Material damage resulting from blowing out with compressed air
Blowing out the product with compressed air can cause malfunctions and pose a risk of accidents.
► Never purge the product with compressed air.
CAUTION
Material damage caused by liquid and solvent-based cleaners
Liquid and solvent-based cleaning agents can cause malfunctions and pose a risk of accidents.
► Do not clean the product with any cleaning agents that are liquid or contain solvents.
NOTICE
Material damage due to leaking lubricant
Excessive lubrication can cause moving machine parts to leak lubricant. This can contaminate the machine,
object being gripped or workpiece.
► Only use approved or recommended lubricants.
► Observe the manufacturer information for use of specific lubricants.
► Adhere to the lubrication interval.
► Avoid excessive lubrication.
► Remove leaking lubricant immediately and thoroughly.
► Replace damaged seals.
Maintenance-free operation of the product is guaranteed for up to 10 million cycles.
The maintenance interval may be shortened under the following circumstances:
• Dirty environment
• Improper use and use that does not comply with the power specifications.
• Permissible temperature range not observed
► 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
equipment is required in some cases. Zimmer GmbH accepts no liability for any resulting malfunctions or damage.
17 Decommissioning/disposal
INFORMATION
When the product reaches the end of its operational phase, it can be completely disassembled and disposed of.
DDOC01219 / c
EN / 2022-10-10
► Disconnect the product completely from the power supply.
► Dispose of the components properly according to the material groups.
► Comply with the locally applicable environmental and disposal regulations.
42
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
18 RoHS declaration
in terms of the EU Regulation 2011/65/EU
Name and address of the manufacturer:
Zimmer GmbH
 Im Salmenkopf
77866 Rheinau, Germany
 +49 7844 9138 0
 [email protected]
 www.zimmer-group.com
We hereby declare that the incomplete machine described below
Product designation:
Type designation:
2-jaw parallel gripper, electric
GEP2000IL-03 series/GEP2000IL-43 series
conforms to the requirements of the directive in its design and the version we put on the market.
Michael Hoch
Authorized representative for the
compilation of relevant technical
documents
Rheinau, Germany, 2022-10-04
(Place and date of issuance)
Martin Zimmer
(Legally binding signature)
Managing 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
 [email protected]
 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 with Art. 33 of
the REACH regulation (“Duty to communicate information on substances in articles”).
Michael Hoch
(Place and date of issuance)
Martin Zimmer
(Legally binding signature)
Managing Partner
DDOC01219 / c
EN / 2022-10-10
Authorized representative for the
compilation of relevant technical
documents
Rheinau, Germany, 2022-10-04
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
43
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
20 Declaration of Incorporation
In terms of the EU Machinery Directive 2006/42/EC (Annex II 1 B)
Name and address of the manufacturer:
Zimmer GmbH
 Im Salmenkopf
77866 Rheinau, Germany
 +49 7844 9138 0
 [email protected]
 www.zimmer-group.com
We hereby declare that the incomplete machine described below
Product designation:
Type designation:
2-jaw parallel gripper, electric
GEP2000IL-03 series/GEP2000IL-43 series
conform to the requirements of the Machinery Directive, 2006/42/EC, Article 2g, Annex VII.b – Annex II.b, in its design and
the version we put on the market.
Basic health and safety requirements:
No. 1.1.2, No. 1.1.3, No. 1.1.5, No. 1.3.2, No. 1.3.4, No. 1.3.7, No. 1.3.9, No. 1.5.1, No. 1.5.2, No. 1.5.4, No. 1.6.4, No. 1.7.1,
No. 1.7.4
A full list of applied standards can be obtained from the manufacturer.
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 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, that the machine or
system in which the incomplete machine is to be installed satisfies the requirements of Directive 2006/42/EC on
Machinery and an EC Declaration of Conformity has been drawn up in accordance with Annex II 1 A.
Kurt Ross
(Place and date of issuance)
Martin Zimmer
(Legally binding signature)
Managing Partner
DDOC01219 / c
EN / 2022-10-10
Authorized representative for the
compilation of relevant technical
documents
Rheinau, Germany, 2022-10-04
44
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000IL-03/GEP2000IL-43
21 Declaration of Conformity
As defined by the EC Directive 2014/30/EU on electromagnetic compatibility
Name and address of the manufacturer:
Zimmer GmbH
 Im Salmenkopf
77866 Rheinau, Germany
 +49 7844 9138 0
 [email protected]
 www.zimmer-group.com
We hereby declare that the products described below
Product designation:
Type designation:
2-jaw parallel gripper, electric
GEP2000IL-03 series/GEP2000IL-43 series
conforms to the requirements of the 2006/42/EC directive in its design and the version we put on the market.
The following harmonized standards have been used:
DIN EN ISO 12100
DIN EN 61000-6-3
DIN EN 61000-6-2
DIN EN 61000-6-4
Safety of machinery - General principles for design - Risk assessment and risk
reduction
EMC Generic standard, Emission standard for residential, commercial and light-industrial
EMC Generic standard, Emission standard for industrial environments
EMC Generic standard, Immunity for industrial environments
A full list of applied standards can be obtained from the manufacturer.
Kurt Ross
(Place and date of issuance)
Martin Zimmer
(Legally binding signature)
Managing Partner
DDOC01219 / c
EN / 2022-10-10
Authorized representative for the
compilation of relevant technical
documents
Rheinau, Germany, 2022-10-04
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
45