Zimmer DDOC00734 User manual

www.zimmer-group.com
INSTALLATION AND
OPERATING
INSTRUCTIONS
SCM-Module
DDOC00734
THE KNOW-HOW FACTORY

INSTALLATION AND OPERATING INSTRUCTIONS: SCM-Module
Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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Glossary
Parameters Explanation
Grip Motion command for gripping the workpiece
Release Motion command for releasing the workpiece
isReleased The gripper signals that it is open
isGrasped The gripper has gripped the workpiece and is within the taught workpiece window
isClosed The gripper has gripped but there is no workpiece, so it is in the maximum position

INSTALLATION AND OPERATING INSTRUCTIONS: SCM-Module
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Content
1 Supporting documents......................................................................................................................................................... 4
2 Safety instructions................................................................................................................................................................. 4
3 Proper use ............................................................................................................................................................................. 5
4 Personnelqualication ......................................................................................................................................................... 5
5 Product description .............................................................................................................................................................. 5
6 Function ................................................................................................................................................................................. 6
6.1 Electricalspecication................................................................................................................................................................................................6
6.2 LED display ..................................................................................................................................................................................................................6
6.3 Technical data..............................................................................................................................................................................................................7
7 Installation.............................................................................................................................................................................. 8
7.1 Safety notices ..............................................................................................................................................................................................................8
7.2 Installing the mechanical system ...............................................................................................................................................................................8
7.3 Installing the electrical system ...................................................................................................................................................................................8
7.3.1 Installing the power supply basic module ..................................................................................................................................................9
7.3.2 Installing the power supply IO-Modul..........................................................................................................................................................9
7.3.3 Installing the IO-Link ...................................................................................................................................................................................10
7.3.4 Installing the Ethernet connection.............................................................................................................................................................10
7.3.5 IO assignment for a connected gripper ....................................................................................................................................................11
7.3.6 IO assignment for two connected grippers...............................................................................................................................................12
8 Commissioning ................................................................................................................................................................... 13
8.1 Establishing the connection to the SCM module ...................................................................................................................................................13
8.2 Selecting the gripper in guideZ mode.....................................................................................................................................................................14
8.3 Switching on the motor and referencing .................................................................................................................................................................15
8.4 Selecting the desired gripping direction .................................................................................................................................................................16
8.5 Teaching in the workpiece........................................................................................................................................................................................17
8.6 Setting the workpiece tolerance ..............................................................................................................................................................................18
8.7 Setting the „Open“ position......................................................................................................................................................................................19
8.8 Setting the gripping force .........................................................................................................................................................................................20
8.9 Setting the speed for opening the gripper ..............................................................................................................................................................21
8.10 Checking the settings ...............................................................................................................................................................................................22
8.11 Saving the recipe.......................................................................................................................................................................................................23
8.12 Savingofdatanished..............................................................................................................................................................................................24
8.13 monitorZ mode..........................................................................................................................................................................................................25
8.14 expertZ mode ............................................................................................................................................................................................................26
9 Operation............................................................................................................................................................................. 27
10 Troubleshooting .................................................................................................................................................................. 27
11 Accessories/scope of delivery........................................................................................................................................... 27
12 Transportation/storage/preservation ................................................................................................................................ 27
13 Decommissioning and disposal......................................................................................................................................... 28
14 Declaration of Conformity .................................................................................................................................................. 29

INSTALLATION AND OPERATING INSTRUCTIONS: SCM-Module
Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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1 Supporting documents
NOTE
Read through the installation and operating instructions carefully before installing the product!
The installation and operating instructions contain important information for your personal safety.
They must be read and understood by all persons who work or handle the product during any phase of the
product‘s lifetime.
The following listed documents are available for download on our website (www.zimmer-group.com).
Only the documents currently obtained from the website are valid.
• Catalogs, drawings, performance data
• Information on accessories
• Detailed installation and operating instructions
• Technical data sheets
• General Terms and Conditions of Business, including warranty information
2 Safety instructions
CAUTION
Non-compliance may result in severe injuries!
1. Installation,commissioning,maintenanceorrepairmayonlybecarriedoutbyqualiedpersonnelin
accordance with these installation and operating instructions.
2. The SCM module is state-of-the-art. It is used on industrial machines to communicate between a maximum of
two Zimmer GmbH IO-Link handling devices and a controller. Communication to the controller is over digital
IO at a level of 24 V. The SCM module is designed for installation in control cabinets or similar and complies
withprotectionclassIP20.Itismountedonaprolerail.Thefollowingareexamplesofsituationsinwhichthe
device may pose a hazard:
• Thedeviceisnotproperlytted,usedormaintained
• The device is not used for its intended purpose
• Local regulations (legislation, decrees, guidelines), such as the EC Machinery Directive, accident
prevention regulations and the assembly and operating instructions, are not observed.
3. The device may only be used in accordance with its intended use and technical data.
4. Any use other than the intended use requires written approval from Zimmer GmbH.
5. Make sure that the power supply is disconnected before you install, retool, maintain or repair the device.
6. In the event of maintenance, conversion or expansion work, remove the device from the machine and perform
the work outside the danger zone.
7. When commissioning or testing, make sure that the connected gripper/s cannot be activated by mistake.
8. Modicationstothedevice,suchasaddingdrilledholesorconnections,maybemadeonlywithprior
approval from Zimmer GmbH.
9. Use of the device under extreme conditions, such as aggressive liquids and abrasive dusts, is sub-ject to prior
approval from Zimmer GmbH.

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3 Proper use
NOTE
The SCM module is only to be used in its original state with its original accessories, with no unauthorized
changesandwithinthescopeofitsdenedparametersforuse.ZimmerGmbHshallacceptnoliabilityforany
damage caused by improper use.
Useoutsideofthedenedparametersisnotpermitted.Unauthorizedelectricalormechanicalmodica-tionsmustnotbe
made. The SCM module is designed exclusively for electric operation using a 24 VDC power supply. Direct contact with
perishable goods/food is not permitted.
4 Personnel qualication
Installation, commissioning and maintenance may only be performed by specialists. These personnel must have read and
understood the installation and operating instructions in full.
5 Product description
The SCM module is used to easily control up to 2 Zimmer Group IO-Link grippers. The control from the per-spective of the
higher-level control takes place via 12 digital inputs and outputs each.
The SCM module thus acts as an IO-Link to a digital IO gateway for easy use of the IO-Link grippers.
ThemoduleisthereforeconguredwithPC-basedsoftwareandcanthenbeoperatedwithoutthePC.Forcongurationor
diagnostics via Ethernet connection, the PC is connected to the lower RJ45 socket with a commercially available network
cable.
Robot Controller

1 ... 2 gripper
POWER

INSTALLATION AND OPERATING INSTRUCTIONS: SCM-Module
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6 Function
6.1 Electrical specication
INFORMATION
Informationontheelectricalspecicationscanbefoundonourwebsite.
These vary depending on the connected gripper variant and intended use.
If you have any further questions, please contact our room customer service.
6.2 LED display
The LED display is provided on each submodule. The left module with the network sockets is the basic module. The right
module with the digital IO is the IO module.
Basic module
Power LED is green
LEDisashing
OK operating voltage
Device is currently training a gripper / HMI is connected
Power LEDisashing HMI takes control (all LEDs of the IO module are OFF)
Power LED is off Operating voltage not OK
ERROR LED is red Device has an error on the SCM
Status of grippers 1/2 LED is off HMI is connected, status is not displayed
Status of grippers 1/2 LED is red HMI is disconnected, gripper has an error
Status of grippers 1/2 LEDisashing Gripper is separated from the SCM
Status of grippers 1/2 LED is blue HMI is disconnected, gripper at a standstill is open or completely
closed
Status of grippers 1/2 LED is green HMI is disconnected, gripper in motion or on workpiece
P 24 V ⓂLED is green Actuator voltage OK
P 24 V ⓂLED is off Actuator voltage not OK

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IO Module
Power LED is green OK operating voltage
Power LED is off Operating voltage not OK if HMI is disconnected
If HMI is connected - OK
ERROR LED is red IO modul has an error
Status 1/2 LED is off HMI is connected, IO module is deactivated
Status 1/2 LED is blue Motion task for gripper in the “release” direction
Status 1/2 LED is green Motion task for gripper in the “grasp” direction
- LED is inactive without function
6.3 Technical data
Parameter Explanation
Voltage [V] 24 V ± 10%
Current draw [A]
SCM without gripper typ. 0.075 A
SCM with gripper GEH6040IL without gripping movement typ. 0.215 A
SCM with gripper GEP2010IL without gripping movement typ. 0.1 A
Protection class in acc. with IEC60529 IP20
Operating temperature [°C] +5 ... 50
Conguration Ethernet with RJ45
Control of the gripper 2 channels with IO-Link port class B
Interface to higher-level control 12 x digital inputs 24 V PNP logic
12 x digital outputs 24 V PNP logic

INSTALLATION AND OPERATING INSTRUCTIONS: SCM-Module
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7 Installation
7.1 Safety notices
NOTE
Switch off the energy supply for the electronics before any assembly, installation or maintenance work.
►Electronics may get damaged.
CAUTION
Switch off the energy supply for the electronics before any assembly, installation or maintenance work.
►Injuries are possible.
WARNING
Risk of injury in case of unexpected movement of the machine or system into which the gripper is to be installed.
►Switch off the power supply to the machine before all work.
►Secure the machine against being switched on unintentionally.
►Check the machine for any residual energy.
7.2 Installing the mechanical system
TheSCMmoduleisdesignedforinstallationonastandard35mm-wideprolerail.
Themountingpositioncanbeuprightontheprolerailorsuspended(prolerailmountedinthecontrolcabinet).
A clearance of 5cm each on the side of the ventilation slots of the SCM module must be kept for air circula-tion.
7.3 Installing the electrical system
Figure: SCM-C
Status
Ethernet connection
IO-Link 1
IO-Link 2
Supply
Status
Digital Input
Digital Output
Supply
12
34
56
12
34
56
12
34
56
13 14
15 16
17 18
78
910
11 12
12
34
56
78
910
11 12
12
34
56

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7.3.1 Installing the power supply for the basic module
We recommend fusing the device using a suitable circuit breaker in accordance with the expected current draw and the
cable cross-sections used.
INFORMATION
PleasenotethatPIN5/6maybesuppliedwithamaximumof10A.
The signal and actuator voltage is electrically isolated in the SCM module.
PIN Function Explanation
124Vactuatorvoltage Actuator voltage of the grippers
2GND actuator voltage Ground for the actuator voltage of the grippers
324VsignalIN Power supply for the SCM module and the signal voltage of the grippers
4GND signal IN Ground for the SCM module and the signal voltage of the grippers
524VsignalOUT "Signal voltage output" for supplying power to the I/O module
6GND signal OUT "GND output" for supplying power to the I/O module
7.3.2 Installing the I/O module power supply
PIN Function Explanation
13 Available Currently, no function
14 Available Currently, no function
15 Available Currently, no function
16 Available Currently, no function
17 24V Signal voltage for supplying power to the I/O module
18 GND GND for supplying power to the I/O module

INSTALLATION AND OPERATING INSTRUCTIONS: SCM-Module
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7.3.3 Installing the IO-Link
The PIN assignments listed in the table are for both of the two IO-Link channels.
PIN Function Explanation
1C/Q IO-Link communication
2DI Not currently in use
3P-24V Actuator voltage of the gripper
4P-GND Ground for the actuator voltage of the gripper
5S-24V Signal voltage of the gripper
6S-GND Ground for signal voltage
7.3.4 Installing the Ethernet connection
Onlythe"lower"Ethernetconnection(greenbox–Figure,chapter7.3)isactiveandisconnectedtoacomputerforcongu-
ration of the SCM module.
In this process, the factory setting is as follows:
• IP: 10.0.0.5
• Network mask: 255.0.0.0
PleaseadjustyournetworkcardandcheckwhetheryourrewallsupportscommunicationwiththeSCMmodule.

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7.3.5 IO assignment for a connected gripper
Advanced and Basic designate different classes of grippers at Zimmer Group:
The following gripper series are currently running under Advanced:
• GEH6000IL, GED6000IL, HRC-01, HRC-02
The following gripper series run under Basic:
• GEP2000IL, GEP5000IL, GED5000IL, GPP5000IL, GPD5000IL, HRC-03, HRC-04, HRC-05
Port 1 - „Advanced_Gripping“ Port 1 - „Basic_Gripping“
PIN IO-Modul Advanced_Gripping Basic_Gripping
1 Input Cmd_Release Cmd_Release
2 Input Cmd-Grasp Cmd-Grasp
3 Input Cmd_Reset Cmd_Reset
4 Input Cmd_Motor_ON/Motor_OFF -
5 Input Cmd_Homing -
6 Input - -
7 Input - -
8 Input - -
9 Input Cmd_Workpiece_Bit_0 Cmd_Workpiece_Bit_0
10 Input Cmd_Workpiece_Bit_1 Cmd_Workpiece_Bit_1
11 Input Cmd_Workpiece_Bit_2 Cmd_Workpiece_Bit_2
12 Input Cmd_Workpiece_Bit_3 Cmd_Workpiece_Bit_3
1 Output isReleased isReleased
2 Output isGrasped isGrasped
3 Output isClosed isClosed
4 Output undernedPosition undernedPosition
5 Output Error Error
6 Output Motor ON -
7 Output Homing OK -
8 Output - -
9 Output Act_Workpiece_Bit_0 Act_Workpiece_Bit_0
10 Output Act_Workpiece_Bit_1 Act_Workpiece_Bit_1
11 Output Act_Workpiece_Bit_2 Act_Workpiece_Bit_2
12 Output Act_Workpiece_Bit_3 Act_Workpiece_Bit_3

INSTALLATION AND OPERATING INSTRUCTIONS: SCM-Module
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7.3.6 IO assignment for two connected grippers
Port 1 - Basic_Gripping Port 1 - Advanced_Gripping Port 1 - Advanced_Gripping
Port 2 - Basic_Gripping Port 2 - Basic_Gripping Port 2 - Advanced_Gripping
PIN IO-Modul Basic_Gripping + Basic_
Gripping
Advanced_Gripping + Basic_
Gripping
Advanced_Gripping +
Advanced_Gripping
Port 1
1 Input Cmd_Release Cmd_Release Cmd_Release
2 Input Cmd-Grasp Cmd-Grasp Cmd-Grasp
3 Input Cmd_Reset Cmd_Reset Cmd_Reset
4 Input - Cmd_Motor_ON/Motor_OFF Cmd_Motor_ON/Motor_OFF
5 Input - Cmd_Homing Cmd_Homing
6 Input ---
7 Input Cmd_Release Cmd_Release Cmd_Release
Port 2
8 Input Cmd_Grip Cmd_Grip Cmd_Grip
9 Input Cmd_Reset Cmd_Reset Cmd_Reset
10 Input - - Cmd_Motor_ON/Motor_OFF
11 Input - - Cmd_Homing
12 Input ---
1 Output isReleased isReleased isReleased
Port 1
2 Output isGrasped isGrasped isGrasped
3 Output isClosed isClosed isClosed
4 Output undenedPosition undenedPosition undenedPosition
5 Output Error Error Error
6 Output - Motor ON (Motor ON 1) & (Motor ON 2)
7 Output - Homing OK (Homing OK 1) & (Homing OK
2)
Port 2
8 Output isReleased isReleased isReleased
9 Output isGrasped isGrasped isGrasped
10 Output isClosed isClosed isClosed
11 Output undenedPosition undenedPosition undenedPosition
12 Output Error Error Error

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8 Commissioning
After the SCM module is correctly wired, the desired grippers are connected and the power supply is switched on, the
devicerststartsup.
Duringthis,rstthepowerLEDslightupbrieyingreen.ThenStatus1/2blinkonthebasemoduleaslongasgrippersare
beingsearchedfor.(DependingonthelastsavedcongurationontheSCMmodule).
8.1 Establishing the connection to the SCM module
Now connect the PC with the installed Zimmer HMI software ZG_IO_Link_HMI in version 2.0.1.22 or higher. In the upper
right corner, the three control levels are shown:
• expertZ is an expert level where all data of the gripper can be accessed
• guideZisacongurationlevelwherethegrippercanbetaughttothedesiredworkpiece
• monitorZ is a diagnostic and observation level for monitoring the grippers during operation

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8.2 Selecting the gripper in guideZ mode
Click on the desired gripper to start the guideZ function in order to teach the gripper (in this example, a GEH6000 series
gripper) to the workpiece.

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8.3 Switching on the motor and referencing
The progress of the guideZ process is indicated by the white bar at the bottom.
The green power-supply LED on the right side indicates if the actuator voltage is connected.
Only when the LED at the bottom rightinthestep-stateeldlightsupgreencanthebuttonbeusedtomovetothenext
step. In this case, the gripper motor is still switched off.
ÖIt is best to switch the motor on by using one of the two reference-run buttons.
-The gripper will also reference outwards or inwards.
When the motor is switched on, you can move to the next step.

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8.4 Selecting the desired gripping direction
Here you select whether the workpiece is to be gripped from the outside or inside.
The appropriate parame-ters are then set automatically in the gripper.
Inside grippingOutside gripping

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The operating concept also applies to the „Selection of the desired gripping direction“. Only when the LED in the bottom
right window lights up green can the button be used to go one step further.
8.5 Teaching in the workpiece
To teach the gripper about the workpiece, the workpiece is simply gripped by pressing and holding the movement buttons
on the right. The gripper detects the standstill and „remembers“ the workpiece posi-tion.

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8.6 Setting the workpiece tolerance
A tolerance of 0.0 mm to 2.55 mm can be set for the taught-in workpiece.
The gripper thus automatically sets its „closed“ position just behind the workpiece tolerance, provided it is a servo gripper
with freely adjustable positions.

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8.7 Setting the „Open“ position
This is possible only for grippers with a servo function.
ÖIn this step, the position is set in which the gripper is to be open.

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8.8 Setting the gripping force
If the gripper allows it, the gripping force can be set here.
In doing so, the closing speed is then also automatically set here.
INFORMATION:
Durch die Kraft wird auch die
Geschwindigkeit eingestellt!