Zimmer GEP5006, GED5006, GEP5008, GED5008, GEP5010 Installation And Operating Instructions
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INSTALLATION AND OPERATING
INSTRUCTIONS
Handling
Technology
GEP/GED5000 series
Electric gripper
THE KNOW-HOW FACTORY
INSTALLATION AND OPERATING INSTRUCTIONS: ELECTRIC GRIPPER GEP/GED5000 SERIES
1. Supporting documents
Note:
The following documents are available for download on our website.
Only the documents currently available on the website are valid.
• Catalog
• Drawings, performance data, information about accessory parts, etc.
• General terms and conditions, including warranty information
2. Proper use
Note:
The gripper is to be used only in its original state with its original accessories, without any unauthorized
changes and within the scope of its dened parameters of use.
ZIMMER GmbH shall accept no liability for any damage caused by improper use.
The gripper is designed exclusively for electric operation using a supply voltage of 24 V DC.
The gripper is used as dened under "Proper use" in enclosed rooms to temporarily grip, handle and hold parts.
The gripper is not suitable for clamping workpieces during a machining process.
Direct contact with perishable goods/food is not permitted.
3. PNP switching logic used
If a sensor is connected to the input stage of a PLC, the input stage detects the state that the sensor is in (on or o). The prerequisite is that the PLC features the same switching logic as the sensor.
PNP sensor PNP input
When a PNP sensor is connected to a PNP input,
current ows from the sensor to the input. This means that a PNP input
must lower the current at the location where a PNP sensor draws current
Signal
Source current Sink current
Caution:
In the reverse case, an NPN sensor lowers current and an NPN input draws current.
EN/2015-10-07
DDOC00198/t
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ● Phone: +49 7844 9138-0
●
Fax: +49 7844 9138-80 ● www.zimmer-group.de
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INSTALLATION AND OPERATING INSTRUCTIONS: ELECTRIC GRIPPER GEP/GED5000 SERIES
4. Function
4.1 GEP5000 function
The gripper ngers of the parallel gripper are arranged successively on two
shared guide rails and can be moved alongside each other.
A brushless DC motor* is used as the drive.
The rotational movement of the motor is converted into a linear movement using
a spindle drive to generate the opening and closing movement of the gripper.
The gripper is suitable for outward gripping. (NO = normally open) This means
the gripper moves at high speed back into the starting position
The gripper is suitable for inward gripping. (NC = normaly closed) This means
the gripper moves at high speed back into the starting position
4.2 GED5000 function
The gripper ngers of the three-jaw gripper are each positioned between two
steel guide rails.
A brushless DC motor* is used as the drive.
The rotational movement of the motor is converted into a linear movement using
a spindle drive to generate the opening and closing movement of the gripper.
The gripper is suitable for outward gripping. (NO = normally open) This means
the gripper moves at high speed back into the starting position
NCNO
The gripper is suitable for inward gripping. (NC = normally closed) This means
the gripper moves at high speed back into the starting position
EN/2015-10-07
*) See "Glossary" section for denitions
DDOC00198/t
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ● Phone: +49 7844 9138-0
●
Fax: +49 7844 9138-80 ● www.zimmer-group.de
NCNO
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INSTALLATION AND OPERATING INSTRUCTIONS: ELECTRIC GRIPPER GEP/GED5000 SERIES
5. Personnel qualications
Installation, commissioning and operation may be undertaken by trained specialists only. They must have read and understood the
installation and operating instructions in full.
6. Installation
6.1 Safety notes
CAUTION:
Non-compliance may result in minor to serious injuries
Switch o the power supply for the electronics before any assembly, installation or maintenance work.
►
Risk of injury
NOTE:
Non-compliance may result in damage to the system
Switch o the power supply for the electronics before any assembly, installation or maintenance work.
►
6.2 Installing the gripper
The gripper can be installed from several sides on a mounting surface that meets the specications for evenness.
The following work steps are to be carried out to install the gripper:
► Insert centering sleeves into the provided matching parts on the gripper
► Position the gripper on the designated mounting surface using the centering sleeves
► Secure the gripper with cylinder screws of strength class 8.8
► Install the KAG1000B8 power supply cable (straight plug) or the KAW1000B8 power supply cable (angled plug)
Damage to the electronics possible
NOTE:
Non-compliance may result in damage to the system
For details on the tightening torque, screw diameter and maximum weight and length of the gripper ngers, refer
to the "Technical data" tables on the website www.zimmer-group-de.
Static charge
The seals move with the gripper jaws. This creates low voltages as a result of static charging. These charges cannot be
dissipated if the gripper is installed on an insulated surface,
nor can they be discharged through the workpiece.
NOTE:
Non-compliance may result in damage to the system
Grounding the gripper attachment/gripper jaws is recommended if ESD-sensitive parts* come into contact with
the gripper.
Heat dissipation
In the event of high ambient temperatures and a high clock frequency, the gripper has to be installed on heat-dissipating
materials.
EN/2015-10-07
*) See "Glossary" section for denitions
DDOC00198/t
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ● Phone: +49 7844 9138-0
●
Fax: +49 7844 9138-80 ● www.zimmer-group.de
4
INSTALLATION AND OPERATING INSTRUCTIONS: ELECTRIC GRIPPER GEP/GED5000 SERIES
7. Commissioning
7.1 Control
To use the gripper, a voltage supply is required at pin 8 (0V) as well as at pin 6 (24 V DC/5 A).
Pin 1 serves as the control input used to open and close the gripper.
The signal of pin 1 must remain present until a counter movement of the gripper jaws is required.
The energy consumption during the movement of the gripper jaws is ≤ 5 A.
At resting position, the energy consumption of the gripper is < 150 mA.
The parameters can be set using the arrow keys on the membrane keyboard. (see section 7.3)
Cableconguration
Pin Color Function Explanation
1 White DIR* INPUT, open/close gripper control input, 24 V DC
2 Brown Work position OUTPUT, gripper in work position message
3 Green Error OUTPUT, error message
4 Yellow Teach position OUTPUT, gripper in programming position message
5
Gray Base position OUTPUT, gripper in programming position message
6 Pink +24 V DC +24 V DC/5A voltage supply
7 Blue Teach/adjust INPUT, control input, program/adjust workpiece
8 Red GND* Voltage supply 0V DC
7
1
8
2
3
6
5
4
Schematic view of controlling the GEP/GED 5000
10 11 12
EN/2015-10-07
*) See "Glossary" section for denitions
DDOC00198/t
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ● Phone: +49 7844 9138-0
10
11
12
Gripper
Internal sensors, gripper position sensing
External control and programming unit
●
Fax: +49 7844 9138-80 ● www.zimmer-group.de
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INSTALLATION AND OPERATING INSTRUCTIONS: ELECTRIC GRIPPER GEP/GED5000 SERIES
7.2 Switching sequence
Input 1 (DIR)
----------------------------------------------------------------------------------
Current draw
----------------------------------------------------------------------------------
Gripper position
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7.3 Intermediate position
• The intermediate position also called "workpiece gripped" can be programmed as desired.
• This requires moving the gripper jaws to the desired position (e.g. by gripping the workpiece).
• A signal (+24 V) is then applied to the pin 7 input (teach/adjust)* for a minimum of 0.5 seconds and a maximum of 3 seconds.
• Feedback is received via the pin 4 output (teached position)* in the process.
• The statuses are also shown on the gripper via the LED display.
Course of action for teaching the gripper with workpiece
1
► Put the gripper jaws into the desired position –
for instance by inserting a workpiece
► Close the gripper by applying a signal (+24V) at the PIN 1
(arrow 1) input
Error display lights up red (arrow A)
2
INFORMATION:
Important for handling the product.
The error message (A) appears because the gripper is not able to reach its end position as a result of the
inserted workpiece.
"The gripper is not yet aware that it has a workpiece between the gripper jaws."
► Apply a signal (+24 V) (arrow 2) on the pin 7 input (teach/
adjust*) for 0.5 to 3 seconds
The middle LED position display lights up green
(arrow B)
A
B
INFORMATION:
Important for handling the product.
"The gripper has learned where the workpiece is."
After the teach-in, the error message (arrow A) disappears during the next gripping movement.
EN/2015-10-07
*) See "Glossary" section for denitions
DDOC00198/t
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ● Phone: +49 7844 9138-0
●
Fax: +49 7844 9138-80 ● www.zimmer-group.de
6
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