Zimmer GEH6000IL Series User manual

www.zimmer-group.com
INSTALLATION
AND OPERATING
INSTRUCTIONS
GEH6000IL series
2-jaw parallel gripper
GED6000IL series
3-jaw concentric gripper
electric
DDOC00212
THE KNOW-HOW FACTORY

INSTALLATION AND OPERATING INSTRUCTIONS: GEH6000IL/GED6000ILINSTALLATION AND OPERATING INSTRUCTIONS: GEH6000IL/GED6000IL
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Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com
Parameter explanation (glossary)
Parameter Explanation
ActualPosition Value of the current position of the product [1/100 mm]
BasePosition Outer jaw position
Depending on the gripper prole, this can also be a work position.
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 proles 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 supply line
Depending on the product, this signal is used to move the product.
Error Error
GND Abbreviation for ground connection
GripForce Setting the gripping force
Offset Correction value
PositionTolerance Tolerance range for TeachPosition, BasePosition and WorkPosition
The value of the parameter acts in both directions.
ShiftPosition Toggle position between pre-positioning and the gripping process
StatusWord In its bits, returns the most important information about the status of the product to the control
system.
Teach/Adjust Program/Congure
Using 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 dene the reachable end positions of the gripper jaws.
TeachPosition Actual workpiece position
Travel routing Dened procedure for movement of the gripper jaws
Travel path Path on which the gripper jaws travel.
WorkpieceNo Selection of the workpiece recipes stored in the product.
WorkPosition Inner jaw position at the product
Depending on the application, this can also be the standby position.
Content
1 Supporting documents ............................................................................................................................................................... 5
1.1 Notices and graphics in the installation and operating instructions ...............................................................................................................................5
2 Safety notices ............................................................................................................................................................................... 6
3 Proper use .................................................................................................................................................................................... 6
4 Personnel qualication ................................................................................................................................................................ 6
5 Product description ..................................................................................................................................................................... 7
5.1 Possible applications ...........................................................................................................................................................................................................7
5.2 Type plate .............................................................................................................................................................................................................................7
6 Functional description ................................................................................................................................................................. 8
6.1 LED display ...........................................................................................................................................................................................................................9
6.2 Control ..................................................................................................................................................................................................................................9
6.3 Veried conguration examples .........................................................................................................................................................................................9
6.4 Self-locking mechanism ......................................................................................................................................................................................................9
7 Technical data ............................................................................................................................................................................ 10
7.1 Forces and torques ............................................................................................................................................................................................................10
7.2 Electrical specications .....................................................................................................................................................................................................10
7.3 Protection class ..................................................................................................................................................................................................................10
8 Accessories/scope of delivery ................................................................................................................................................. 11
9 Transportation/storage/preservation ....................................................................................................................................... 11
10 Installation ..................................................................................................................................................................................12
10.1 Installing GEH6000IL .........................................................................................................................................................................................................13
10.2 Installing GED6000IL .........................................................................................................................................................................................................14
10.3 Installing the energy supply ..............................................................................................................................................................................................15
10.3.1 Installing the wiring ..............................................................................................................................................................................................16
10.3.2 Installing the wiring with additional STO connecting cable .............................................................................................................................16
10.4 Static charge ......................................................................................................................................................................................................................17
10.5 Heat dissipation .................................................................................................................................................................................................................17
10.6 Installing accessories ........................................................................................................................................................................................................17
11 Commissioning ..........................................................................................................................................................................18
11.1 Process data ......................................................................................................................................................................................................................18
11.2 IODD import .......................................................................................................................................................................................................................19
11.3 Handshake data transfer method .....................................................................................................................................................................................19
11.4 Parameters .........................................................................................................................................................................................................................20
11.4.1 ControlWord .........................................................................................................................................................................................................20
11.4.2 DeviceMode .........................................................................................................................................................................................................21
11.4.3 WorkpieceNo .......................................................................................................................................................................................................22
11.4.4 PositionTolerance ................................................................................................................................................................................................22
11.4.5 GripForce .............................................................................................................................................................................................................23
11.4.6 DriveVelocity ........................................................................................................................................................................................................23
11.4.7 BasePosition ........................................................................................................................................................................................................24
11.4.8 ShiftPosition .........................................................................................................................................................................................................24
11.4.9 TeachPosition .......................................................................................................................................................................................................24
11.4.10 WorkPosition ........................................................................................................................................................................................................24
11.4.11 StatusWord ...........................................................................................................................................................................................................25
11.4.12 Diagnosis ..............................................................................................................................................................................................................26
11.4.13 ActualPosition ......................................................................................................................................................................................................26
11.5 Cold boot ............................................................................................................................................................................................................................27
11.6 Minimum travel path ..........................................................................................................................................................................................................27

INSTALLATION AND OPERATING INSTRUCTIONS: GEH6000IL/GED6000ILINSTALLATION AND OPERATING INSTRUCTIONS: GEH6000IL/GED6000IL
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Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com
1 Supporting documents
NOTE
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.
ÖOnly the documents currently available on the website are valid.
In these installation and operating instructions, “product” replaces the product designation on the title page.
1.1 Notices and graphics in the installation and operating instructions
The individual hazard levels, notices and warnings are marked with signal words.
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.
ÖThe 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.
ÖThe 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 environ-
mental 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.
ÖThe 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
This category contains useful tips for handling the product e󹱺ciently. 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.
11.7 DeviceModes – behavior modes ......................................................................................................................................................................................28
11.7.1 Control modes .....................................................................................................................................................................................................28
11.8 Referencing by homing .....................................................................................................................................................................................................29
11.9 DeviceMode 10 ..................................................................................................................................................................................................................30
11.10 DeviceMode 14 ..................................................................................................................................................................................................................30
11.11 DeviceMode 16 ..................................................................................................................................................................................................................31
11.12 DeviceMode 17 ..................................................................................................................................................................................................................32
11.13 Operation modes/movement proles – GEH6000IL-03-B/GED6000IL-03-B ................................................................................................................33
11.13.1 DeviceModes GEH6000IL-03-B ..........................................................................................................................................................................33
11.13.2 Positioning proles ..............................................................................................................................................................................................34
11.13.3 Force proles .......................................................................................................................................................................................................35
11.13.4 Pre-positioning – Force proles ..........................................................................................................................................................................39
11.14 Operation modes/movement proles – GEH6000IL-31-B/GED6000IL-31-B ................................................................................................................42
11.14.1 DeviceModes GEH6000IL-31-B ..........................................................................................................................................................................42
11.14.2 Difference to GEH6000IL-03-B/GED6000IL-03-B: ............................................................................................................................................42
11.14.3 Positioning proles ..............................................................................................................................................................................................43
11.14.4 Force proles .......................................................................................................................................................................................................44
11.14.5 Pre-positioning – Force proles ..........................................................................................................................................................................47
11.15 Interruption of the power supply.......................................................................................................................................................................................50
11.16 Easy Startup .......................................................................................................................................................................................................................50
11.17 Starting the data transfer ..................................................................................................................................................................................................50
11.18 Quickstart basic parameters .............................................................................................................................................................................................51
11.19 Starting the gripping movement .......................................................................................................................................................................................52
11.20 Repeated movement in the same direction .....................................................................................................................................................................52
11.21 Recipe examples ...............................................................................................................................................................................................................53
11.21.1 Saving the recipe .................................................................................................................................................................................................53
11.21.2 Loading a recipe ..................................................................................................................................................................................................54
12 Operation .................................................................................................................................................................................... 55
12.1 Emergency release of GEH6000IL ...................................................................................................................................................................................55
12.2 Emergency release of GED6000IL ...................................................................................................................................................................................56
13 Gripping force charts .................................................................................................................................................................56
14 Error diagnosis ........................................................................................................................................................................... 57
15 Table with acyclic data (ISDU) .................................................................................................................................................. 59
16 Maintenance ...............................................................................................................................................................................60
17 Decommissioning/disposal ...................................................................................................................................................... 60

INSTALLATION AND OPERATING INSTRUCTIONS: GEH6000IL/GED6000ILINSTALLATION AND OPERATING INSTRUCTIONS: GEH6000IL/GED6000IL
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Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com
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 qualied specialists in
accordance with these installation and operating instructions.
The product is state-of-the-art.
It is tted 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 modications
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 uids or abrasive dusts
• Additional drilled holes or threads
ÖZimmer 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.
►When using the product under extreme conditions, adjust the maintenance interval according to the degree of
contamination.
3 Proper use
NOTE
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.
ÖZimmer 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 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.
4 Personnel qualication
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.
5 Product description
CAUTION
Reduction of the gripping force can cause personal injury and material damage
When exible 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 nger length are correct to
prevent incorrect bracing of the gripper jaws.
ÖAn incorrect conguration or selection can lead to malfunction
5.1 Possible applications
Outside gripping Inside gripping
The product can be used for outside gripping. The product can be used for inside gripping.
5.2 Type plate
A type plate is attached to the housing of the product. XXX
XX-XXXXXX
am
an
The type plate shows the part number and serial number.
am Part number
an Serial number

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Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com
6 Functional description
The gripper jaws and their guide rails of the GEH6000IL series are arranged parallel to each other and can be moved
relative to each other.
The gripper jaws and their guide rails of the GED6000IL series have a 120° offset to each other.
The drive transmits the force/drive torque synchronously to the gripper jaws via a central rack and pinion gear (pinion).
Despite its small installation space, the product is suitable for gripping a wide range of parts and can easily be integrated
into the existing control system.
The gripping force can be adapted optimally to the workpiece via IO-Link.
1Power supply
2Rack and pinion gear
3Mounting and positioning
4Removable centering sleeve
5Precise T-slot guide
6Helical worm gear
7Robust, lightweight housing
8Drive
Cutaway view of the GEH6000IL series
Cutaway view of the GED6000IL series
6.1 LED display
bl TeachPosition
bm Error
bn Power supply on
bo WorkPosition
bp BasePosition
bmbl bnbobp
6.2 Control
INFORMATION
►You can nd information on our website. 
►Please contact Zimmer Customer Service if you have any questions.
6.3 Veried conguration examples
INFORMATION
►You can nd information on our website. 
• GEH6000IL series
• GED6000IL series
►Please contact Zimmer Customer Service if you have any questions.
6.4 Self-locking mechanism
INFORMATION
Products with -03 in the part number have 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).
This does not apply to products with -31 in the part number.
►Please contact Zimmer Customer Service if you have any questions.

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Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com
7 Technical data
INFORMATION
►You can nd information on our website. 
This data varies within the series, depending on the specic design.
►Please contact Zimmer Customer Service if you have any questions.
7.1 Forces and torques
INFORMATION
►You can nd the information in the technical data sheet on our website.
• GEH6000IL series
• GED6000IL series
►Please contact Zimmer Customer Service if you have any questions.
7.2 Electrical specications
INFORMATION
►You can nd information on our website. 
This data varies within the series, depending on the specic design.
►Please contact Zimmer Customer Service if you have any questions.
7.3 Protection class
NOTICE
The product achieves protection class IP54 in all mounted positions of installation.
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. The accessories from Zimmer GmbH are specically tailored to the individual products.
►For information on optional accessories and those included in the scope of delivery, refer to our website.
9 Transportation/storage/preservation
►Transport and store the product only in the original packaging.
►During transport, make sure that no uncontrolled movements can occur if the product is already mounted on the
higher-level machine unit.
►Prior to commissioning and after transport, check all power and communication connections as well as all
mechanical connections.
►Observe the following points when storing the product for longer periods of time:
►Keep the storage location as dust-free and dry as possible.
►Observe the temperature range and avoid temperature uctuations.
►Avoid wind, drafts and formation of condensation.
►Avoid direct sunlight.
►Clean all components until all contamination has been removed.
►Visually inspect all components.
►Remove and foreign objects.
►Remove potential corrosion spots properly.
►Seal electrical connections using suitable covers.

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Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com
10 Installation
WARNING
Risk of injury due to uncontrolled movement
Risk of injury in case of uncontrolled movements of the machine or system into which the product is to be
installed.
►Switch off the power supply of the machine before all 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 movement
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 product before all work.
►Secure the power supply against being switched on unintentionally.
►Check the product for any residual energy that may be present.
NOTE
►Installation may only be carried out by qualied personnel in accordance with these installation and operating
instructions.
►Switch off the power supply before any assembly, installation or maintenance work.
►Install the product on an appropriate mounting surface in accordance with the atness specications.
INFORMATION
Requirements for the mounting surface:
• Permissible unevenness: 0.03 mm
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)
►Comply with the tightening torques of the mounting screws.
►Verify the permitted load capacity of the required screw connections in accordance with VDI 2230.
►You can nd the exact installation positions in the technical data sheet on our website.
10.1 Installing GEH6000IL
The product can be installed with its base or
side on the mounting piece.
►Insert the straight pin or the centering sleeve
into the provided ts on the product.
• Straight pin or centering sleeve,
depending on variant.
►Use the straight pin or centering sleeve
to position the product on the provided
mounting piece.
►Use the mounting screws to secure the
product on the mounting piece.
br
bq
br
3
3
br
bq
3Fits
bq Centering sleeve
br Mounting screws

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Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com
10.2 Installing GED6000IL
The product can be installed with its base on
the mounting piece.
►Insert the straight pin or the centering sleeve
into the provided ts on the product.
• Straight pin or centering sleeve,
depending on variant.
►Use the straight pin or centering sleeve
to position the product on the provided
mounting piece.
►Use the mounting screws to secure the
product on the mounting piece.
bq
br
3
br
3Fit
bq Centering sleeve
br Mounting screw
10.3 Installing the energy supply
CAUTION
Destruction of the product
In the event that the polarity of the product is reversed, the product may be destroyed as a result of the duration
of current of the IO-Link chip C/Q (pin 4) being too long.
►Connect the product correctly.
INFORMATION
The cables that are used by Zimmer GmbH feature a minimum bending radius of 10 x the outer diameter.
►Do not fall below this bending radius.
►Secure free-hanging cables to prevent excessive motion loads or pinching.
►For information about the suitable power supply cables, refer to our website.
►Attach the power supply cable.

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Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com
10.3.1 Installing the wiring
INFORMATION
IO-Link Version 1.1
Transmission speed: COM3 (230.4 kBaud)
Pin Color Function Explanation
3
21
45
1 Brown + 24 V DC sensor Power supply for IO-Link communication
2 White + 24 V DC actuator Actuator supply voltage
3 Blue GND sensor Ground connection of the IO-Link communi-
cation
4Black C/Q IO-Link communication
5Gray GND actuator Ground connection of the actuator
The following steps must be carried out for commissioning or installing the product with IO-Link:
►Connect the product to the IO-Link master.
►Ensure the proper voltage supply.
►Congure the IO-Link master, see the section „Commissioning“.
10.3.2 Installing the wiring with additional STO connecting cable
In addition to the connection of the IO-Link line described above, the wiring of the STO line must be carried out.
Pin Color Function Explanation
4
1 3
1Brown Sensor + 24 V STO-1 STO-1 signal from external safety switch
device
3Blue GND Ground potential
4Black + 24 V STO-2 signal STO-2 signal from external safety switch
device
►Connect the STO-1 and STO-2 signals at the same time using the identical voltage level (0 V or 24 V).
ÖOtherwise, the product switches to a safe state and signals = 0x0100 at the diagnostics.
ÖThe product cannot be moved any more without a cold boot because a fatal error is present.
10.3.2.1 Wiring
If the two STO signals have the status of FALSE (0 V), the STO circuit in the product is interrupted and the product is in a
safe state.
►To move the product again, set both STO signals to the status of TRUE (24 V).
ÖThe diagnostics of the product change to 0x0001 (Motor OFF) if the wiring is correct.
►Switch on the motor.
►Select the desired DeviceMode.
►Transfer the desired DeviceMode.
►Start the movement.
10.4 Static charge
NOTE
Material damage in case of non-compliance
Grounding the product is recommended if ESD sensitive parts come into contact with the product.
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 not possible through the workpiece.
Functional earthing must be ensured via the connection point.
bu bu
bu Connection point
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
►Reduce the cycle time as the temperature increases.
10.6 Installing accessories
NOTE
►Before installing the accessories, check whether they are suitable for use with the selected variant.
►You can nd information on our website.
►Please contact Zimmer Customer Service if you have any questions.

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Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com
11 Commissioning
11.1 Process data
The inputs and outputs are designated from the perspective of the product.
Name Data type
ControlWord UINT16
DeviceMode UINT8
WorkpieceNo UINT8
Reserve UINT8
PositionTolerance UINT8
GripForce UINT8
DriveVelocity UINT8
BasePosition UINT16
ShiftPosition UINT16
TeachPosition UINT16
WorkPosition UINT16
Control system Gripper
Input
Output
Name Data type
StatusWord UINT16
Diagnosis UINT16
ActualPosition UINT16
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 le via the Download IODD link.
ÖYou will need the .zip le for import into the control system.
ÖAs soon as the hardware conguration is complete and the IO-Link connection to the product is established, data will be
displayed in the process input data.
ÖSome 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 rst or second byte of the StatusWord.
ÖBit 6 is active in the rst byte: The bytes already have the correct sequence.
►Continue with the commissioning.
ÖBit 6 is active in the second byte.
►Apply a byte swap, see the section “StatusWord”.
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 10 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.
ÖThe 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.
ÖThe data transmission is complete when the product sends back Statusbit 12 = DataTransferOK = FALSE.
ÖThe sent process data of the IO-Link master is now consistent with the process data used in the product.

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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
DataTransfer 10x0001
WritePDU 2 0x0002
ResetDirectionFlag 40x0004
Teach 80x0008
MoveToBase 256 0x0100
MoveToWork 512 0x0200
JogToWork + 1024 0x0400
JogToBase - 2048 0x0800
Name ControlWord
Data format UINT16
Permission Write
Transfer Cyclical
Value range 0 to 65535
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Byte 1 - - - - JogToBase JogToWork MoveToWork MoveToBase
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte 0 - - - - Teach ResetDirec-
tionFlag
WritePDU DataTransfer
Bit 0: DataTransfer
Setting this bit tells the product that the direction ag needs to be reset.
Bit 1: WritePDU
Setting this bit tells the product that it should write the current process data to the selected workpiece recipe.
Bit 2: ResetDirectionFlag
Setting this bit tells the product that the direction ag needs to be reset. This makes a repeated movement to a position
possible. This is logical during a switchover of workpiece recipes.
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.
11.4.2 DeviceMode
DeviceMode controls the basic actions of the product. The possible modes are explained in the section „DeviceModes –
behavior modes“.
Name DeviceMode
Data format UINT8
Permission Write
Transfer Cyclical
Value range 0 to 255

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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.
With a value [1 to 32] and subsequent data acquisition via a handshake, the corresponding workpiece recipe is loaded in
the product.
INFORMATION
For example codes, refer to the "Quickstart Basic Parameters" and "Recipe Examples" sections.
Name WorkpieceNo
Data format UINT8
Permission Write
Transfer Cyclical
Value range 0 to 32
At a value > 0, the corresponding workpiece recipe is loaded in the product.
11.4.4 PositionTolerance
Used to congure 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 congure 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.
Position
TeachPosition
PositionTolerance
Name PositionTolerance
Data format UINT8
Permission Write
Transfer Cyclical
Value range 0 to 255
11.4.5 GripForce
The product can use various gripping forces for an optimized process sequence. The gripping force is indicated as a
percent from the minimum to the maximum gripping force. The user can transmit the required gripping force in increments
of 1%.
Name GripForce
Data format UINT8
Permission Write
Transfer Cyclical
Value range 1 to 100/130*%
INFORMATION
* Applies to GEH6000IL-03/GED6000IL-03:
Operation over 100% gripping force is possible. The product requires a higher maximum current for this
purpose. Depending on the shape of the gripper ngers, the gripper jaws may become jammed in the process.
►Please contact Zimmer Customer Service if you have any questions.
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 PositionProle.
In the other modes, this parameter determines the movement speed from the workpiece.
In PrePosition-ForceProle mode, it determines the movement speed to the switching position.
The positioning speed is specied as a percentage value (1% to 100%). The product converts this information to its
maximum movement speed.
INFORMATION
Example:
To set a movement speed of 75%, a value of 75 (DriveVelocity = 75) must be transmitted.
Name DriveVelocity
Data format UINT8
Permission Write
Transfer Cyclical
Value range 1 to 100%

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11.4.7 BasePosition
The BasePosition denes the target position in the MoveToBase direction. It must always be less than the ShiftPosition. The
product veries 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
ControlWord.
The product can move past the BasePosition when a move command is run. This is a maximum of 2mm, depending on the
movement speed and gripper nger dimensions. For this reason, a su󹱺ciently great distance to the mechanical end stop
should be selected!
Name BasePosition
Data format UINT16
Permission Write
Transfer Cyclical
Value range 0.75 to max. jaw stroke of the product + 0.75 mm
11.4.8 ShiftPosition
The ShiftPosition must always be larger than the BasePosition and smaller than the WorkPosition. The product veries this
and, if necessary, displays an error message.
Entry in 1/100 mm (example: 10 mm = 1000).
Name ShiftPosition
Data format UINT16
Permission Write
Transfer Cyclical
Value range 0.75 to max. jaw stroke of the product + 0.75 mm
11.4.9 TeachPosition
The TeachPosition denes the target position of the workpiece and its use is optional. If the current position of the product
within the tolerance range is around the TeachPosition, bit 9 is set in the Status. The size of the tolerance range is dened
using the PositionTolerance parameter.
Entry in 1/100 mm (example: 15 mm = 1500)
Name TeachPosition
Data format UINT16
Permission Write
Transfer Cyclical
Value range 0.75 to max. jaw stroke of the product + 0.75 mm
11.4.10 WorkPosition
The WorkPosition denes the closed target position of the product and has to be greater than the ShiftPosition. If the
current position of the product within the tolerance window is around the WorkPosition, bit10 is set in the StatusWord.
The product can be moved past the WorkPosition when a move command is run. This is a maximum of 2mm, depending
on the movement speed and gripper nger dimensions. For this reason, a su󹱺ciently great distance to the mechanical end
stop should be selected!
Name WorkPosition
Data format UINT16
Permission Write
Transfer Cyclical
Value range 0.75 to max. jaw stroke of the product + 0.75 mm
Outputs: Process data from the product to the IO-Link master
11.4.11 StatusWord
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Byte 1 Error ControlWord
0x0200
ControlWord
0x0100
DataTransferOK Undened-
Position
WorkPo-
sition
TeachPo-
sition
BasePo-
sition
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte 0 Control-
lerError
Gripper-
PLCActive
JogWor-
kActive +
JogBase-
Active -
Movement-
Complete
InMotion MotorON HomingPo-
sition OK
Bit 0: HomingPosition OK
The product has its reference. This bit is mandatory. If the bit is FALSE, a reference run must be carried out. See the section
"Referencing by Homing".
Bit 1: MotorON
This bit is active when the motor is switched on by the DeviceMode = 3 (decimal) parameter. The motor is automatically
switched on during a Homing run (DeviceMode 10 (decimal)).
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 -
Conrmation during the Jog run in the direction of BasePosition.
Bit 5: JogWorkActive +
Conrmation 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 7: ControllerError
Error in the controller.
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
Active if the product is set to WorkPosition.

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Bit 11: UndenedPosition
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 ag. Active if the last motion task was carried out toward BasePosition.
Bit 14: ControlWord 0x0200
This bit is a direction ag. 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.
11.4.12 Diagnosis
The value returned in Diagnosis corresponds to the error code (see the section “Error Diagnosis”).
Name Diagnosis
Data format UINT16
Permission Write
Transfer Cyclical
Value range 0 to 65535
11.4.13 ActualPosition
The ActualPosition corresponds to the current position of the gripper jaws relative to the full stroke.
The value is specied with a resolution of 0.01 mm.
The values can move between the BasePosition (minimum value) and the WorkPosition (maximum value). With the installed
position measuring system, it is possible to achieve a position accuracy of +/- 0.05mm.
Name ActualPosition
Data format UINT16
Permission Read
Transfer Cyclical
Value range 0 to max. jaw stroke of the product
INFORMATION
►Use the StatusWord of the product to check whether a workpiece has been gripped correctly.
• The position measurement resolution is 0.01 mm.
• The position measurement accuracy is 0.1 mm.
►During commissioning, be aware of uctuations around the exact value if you use the ActualPosition
parameter to detect the workpiece.
11.5 Cold boot
For proper function, Zimmer GmbH recommends that the actuator and sensor voltage be supplied with power separately.
The sensor supply must be switched on rst.
Once the product is communicating with the PLC, the actuator power supply can be switched on.
Depending on the application, simultaneous activation of both voltages is possible.
INFORMATION
If the sensor supply is disconnected, the C/Q signal (IO-Link) must be disconnected as well.
11.6 Minimum travel path
All products of the GEH6000IL/GED6000IL series need one minimum travel path per gripper jaw to generate the full
gripping force. For each attainable maximum force, the minimum travel path per gripper jaw specied below results before
the gripper ngers are to hit the workpiece.
Installation size Minimum travel path [mm]
GEH6040IL-03-B 3
GEH6040IL-31-B 3
GEH6060IL-03-B 3
GEH6060IL-31-B 3
GEH6140IL-03-B 1
GEH6180IL-03-B 1
GED6040IL-03-A 4
GED6040IL-31-A 4
GED6140IL-03-A 2

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11.7 DeviceModes – behavior modes
The DeviceMode parameter can be used to adapt the behavior of the product to the application and the workpiece. You
can choose between control modes, for example for switching on the motor control (3), or operation modes, for example for
positioning the product (50).
The following sections describe the available DeviceModes.
INFORMATION
Note that different operation modes can be selected for products with -03 and -31 in the part number. See
sections „Operation modes/movement proles – GEH6000IL-03-B/GED6000IL-03-B“ and „Operation modes/
movement proles – GEH6000IL-31-B/GED6000IL-31-B“.
The control modes are the same for both series, see sections „DeviceModes – behavior modes“ and
„Referencing by homing“.
11.7.1 Control modes
Some gripper functions are controlled using what are called control modes.
DeviceMode Remarks
1 Idle
2 Gripper reset
3 Switch on the motor control
5 Switch off motor control / stop movement
11 Jog mode
The available modes are identical across the series. They are listed below.
1 – Idle
An idle command for the product. When this mode is selected, no movement can be carried out.
2 – Gripper reset
Triggers a reset of the motor controller.
3 – Switch on the motor control
This switches on the motor control and activates the output stage.
This does not trigger any movement yet. The movement of the motor is not started until a move command is sent.
5 – Switch off motor control/stop movement
This switches off the motor control. The output stage is deactivated and any movements are stopped.
11 – Jog mode
In jog mode, the product moves in the corresponding direction (Base/Work) as long as the move command bits
(MoveToBase/MoveToWork) are set in the ControlWord.
Reversing the bits results in an immediate stop of the gripping movement.
This mode can be used for setting up the gripper positions, for example.
11.8 Referencing by homing
NOTICE
►Before each homing command, make sure that the product is able to move freely and easily and that it cannot
be blocked by the gripper jaws or interfering edges.
When blocking, the reference position is set. A homing command is not permitted in the gripped state.
The basic difference between these is the direction in which the end stop is expected (inside/outside) and the force used to
reach the end stop.
There are various homing commands available.
DeviceMode Action
10 Homing – normal – outside – to internal end stop of the product
14 Homing – normal – inside – to internal end stop of the product
16 Homing – strong – outside – to external end stop
17 Homing – strong – inside – to external end stop
The product has reached its zero position if the
gripper jaws are at the pictured position when
referencing (Homing DeviceMode 10).
Depending on installation size, the gripper
jaws move slightly beyond the edge of the
gripper housing when moving to home position
(Homing).

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11.9 DeviceMode 10
►Assign DeviceMode 10.
►Transmit this value to the product with a handshake.
• The motor can be switched on or off.
WARNING
Risk of injury due to uncontrolled movement
Transmitting the value might cause the product to move.
►Always keep an adequate safety distance.
►Do not reach into the operational range of the product.
ÖThe gripper jaws move to the outside at low speed until they encounter the internal mechanical end stops.
ÖIf the gripper jaws encounter resistance, they stop at this spot.
ÖIn the process, the ActualPosition is referenced to the value of 0.
ÖThe motor is switched on.
INFORMATION
For products without a self-locking mechanism (those with -31 in the part number), the position can also take on
a value higher than "0" after homing.
11.10 DeviceMode 14
►Assign DeviceMode 14.
►Transmit this value to the product with a handshake.
• The motor can be switched on or off.
WARNING
Risk of injury due to uncontrolled movement
Transmitting the value might cause the product to move.
►Always keep an adequate safety distance.
►Do not reach into the operational range of the product.
ÖThe gripper jaws move to the inside at low speed until they encounter the internal mechanical end stops.
ÖIf the gripper jaws encounter resistance, they stop at this spot.
ÖIn the process, the ActualPosition is referenced to the value of 0.
ÖThe motor is switched on.
INFORMATION
For products without a self-locking mechanism (those with -31 in the part number), the position can also take on
a value higher than "0" after homing.
11.11 DeviceMode 16
WARNING
Risk of injury due to increased force of the product during homing
The product force during the reference run is very high with the new DeviceMode.
►Make sure that an external end stop is installed in the machine or system into which the product is being
installed.
ÖIf the internal end stop of the product is used, this will result in higher wear.
►Set the DriveVelocity to a low value before starting homing.
• Recommendation: DriveVelocity 10
►Increase the value if a higher force is required for homing.
►Assign DeviceMode 3.
►Transmit this value to the product with ControlWord 1.
ÖThe motor is switched on.
►Transmit the following values.
Parameter Value Unit
DeviceMode 16 -
WorkpieceNo 0-
PositionTolerance 50 0.01 mm
DriveVelocity 10 %
BasePosition 100 0.01 mm
WorkPosition 4000 0.01 mm
►Transmit the parameters to the product with a handshake.
• ControlWord 1
• BasePosition must not be smaller than 75.
ÖThe gripper jaws move to the inside until they encounter the internal mechanical end stops.
ÖAfter reaching the mechanical end stops, the product accepts the value of the BasePosition for the new ActualPo-
sition.
ÖFor example, the new ActualPosition would be 100 (see table).
ÖAfter homing, the motor is switched off.
►Switch the motor on using DeviceMode 3 and the handshake.
►Change the movement prole.
►Start the operation.
ÖThe product responds with DiagnosisWord 0x0000.
ÖThe product is ready.
WARNING
Product jamming and damage
Since the ActualPosition in this DeviceMode has an offset, the product does not know the position of the internal
end stop.
ÖThis makes it possible to move against the internal end stop at high speed, which can result in jamming of and
damage to the product.

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11.12 DeviceMode 17
WARNING
Risk of injury due to increased force of the product during homing
The product force during the reference run is very high with the new DeviceMode.
►Make sure that an external end stop is installed in the machine or system into which the product is being
installed.
ÖIf the internal end stop of the product is used, this will result in higher wear.
►Set the DriveVelocity to a low value before starting homing.
• Recommendation: DriveVelocity 10
►Increase the value if a higher force is required for homing.
►Assign DeviceMode 3.
►Transmit this value to the product with ControlWord 1.
ÖThe motor is switched on.
►Transmit the following values.
Parameter Value Unit
DeviceMode 17 -
WorkpieceNo 0-
PositionTolerance 50 0.01 mm
DriveVelocity 10 %
BasePosition 100 0.01 mm
WorkPosition 4000 0.01 mm
►Transmit the parameters to the product with a handshake.
• ControlWord 1
• WorkPositionmust not be greater than 75.
ÖThe gripper jaws move to the inside until they encounter the internal mechanical end stops.
ÖAfter reaching the mechanical end stops, the product accepts the value of the WorkPosition as its new ActualPo-
sition.
ÖFor example, the new ActualPosition would be 4000 (see table).
ÖAfter homing, the motor is switched off.
►Switch the motor on using DeviceMode 3 and the handshake.
►Change the movement prole.
►Start the operation.
ÖThe product responds with DiagnosisWord 0x0000.
ÖThe product is ready.
WARNING
Product jamming and damage
Since the ActualPosition in this DeviceMode has an offset, the product does not know the position of the internal
end stop.
ÖThis makes it possible to move against the internal end stop at high speed, which can result in jamming of and
damage to the product.
11.13 Operation modes/movement proles – GEH6000IL-03-B/GED6000IL-03-B
The following sections explain and describe the available DeviceModes. This section refers to the products with -03 in the
part number (products with self-locking mechanism).
11.13.1 DeviceModes GEH6000IL-03-B
DeviceMode Remarks
5x Positioning proles
50 Positioning prole – standard
51 Positioning prole – high clock rate
6x Force proles – Outside gripping
60 Force prole – without holding pressure for energy-saving gripping
61 Force prole – high clock rate for energy-saving gripping
go Force prole – with holding pressure for detecting part loss – standard
65 Force prole – without holding pressure for exible/elastic components
7x Force proles – Inside gripping
70 Force prole – without holding pressure for energy-saving gripping
71 Force prole – high clock rate for energy-saving gripping
ho Force prole – with holding pressure for detecting part loss – standard
75 Force prole – without holding pressure for exible/elastic components
8x Pre-positioning – Force proles – Outside gripping
80 Pre-positioning – Force prole – without holding pressure for energy-saving gripping
81 Pre-positioning – Force prole – high clock rate for energy-saving gripping
85 Pre-positioning – Force prole – with holding pressure for detecting part loss
9x Pre-positioning – Force proles – Inside gripping
90 Pre-positioning – Force prole – without holding pressure for energy-saving gripping
91 Pre-positioning – Force prole – high clock rate for energy-saving gripping
95 Pre-positioning – Force prole – with holding pressure for detecting part loss

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11.13.2 Positioning proles
The following modes can be used for
positioning the product or for form-t gripping.
The movement speed is congured using the
DriveVelocity parameter.
The TeachPosition and ShiftPosition
parameters do not have any signicance in this
mode because the BasePosition or WorkPo-
sition is always approached precisely.
If the product encounters an obstacle in this
mode while moving, the movement stops.
The product can be moved from the obstacle
back to the starting position if the move
command is switched in the ControlWord.
No dened gripping forces can be generated
in this mode. Force-t gripping is thus not
permitted.
Positioning (50, 51):
WorkPosition
Speed in %
DriveVelocity
BasePosition
Position in mm
PositionTolerance (PT) PT PT PT
50 – Positioning prole – Standard
Normal positioning mode, the move commands in the ControlWord trigger a movement in the corresponding direction at
DriveVelocity.
51 – Positioning prole – High clock rate
Behaves like mode 50, but when the gripping movement starts, the unlocking operation is omitted. This starts the
movement immediately and enables a shorter response time.
In doing so, ensure that no gripping force acts on the gripper jaws, as otherwise the movement can be stopped.
Group 50 – Positioning proles
DeviceMode Action ControlWord
50 Position to BasePosition or WorkPosition. 0x0100/0x0200
51 Position without an unlocking operation to BasePosition or WorkPosition. 0x0100/0x0200
11.13.3 Force proles
The following modes can be used for force-t
gripping of workpieces.
The gripping force is built up by the movement
speed of the gripper jaws and the motor
current. To do this, the product calculates
the required movement speed (GripVelocity)
automatically from the GripForce parameter.
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. To disengage
from this reliably, this requires a special
unlocking procedure. For opening, a movement
automatically takes place toward the standby
position at DriveVelocity. To do this, the product
switches into positioning mode automatically.
The graphic applies to Mode Group 60 and
thus shows outside gripping.
For Mode Group 70, exchange the BasePo-
sition and the WorkPosition.
Gripping (in the direction of WorkPosition):
WorkPosition
Speed in %
GripVelocity
(calculated)
BasePosition
Position in mm
PositionTolerance (PT) PT PT PT
PT PT
TeachPosition
Open:
WorkPosition
Speed in %
DriveVelocity
BasePosition
Position in mm
PositionTolerance (PT) PT PT PT
Parameter Description
BasePosition Open position
WorkPosition Closed position – behind the workpiece
GripForce Desired gripping force
TeachPosition Expected position of the workpiece
PositionTolerance Permitted tolerance for the position window
DriveVelocity Opening speed
ShiftPosition Not used
The movement prole determines the direction in which the workpiece is gripped:
• For outside gripping, the movement prole group 60 is used.
• For inside gripping, the movement prole group 70 is used.

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11.13.3.1 Group 60 Force proles – outside gripping
In movement prole group 60, the product moves in the ForceProle
from the BasePosition toward the WorkPosition onto the workpiece using
the ControlWord command 0x0200.
When the workpiece is gripped, the congured gripping force is built up
and the product goes into a self-locked state. For releasing, an internal
unlocking operation must be carried out.
If no workpiece is gripped during the gripping process, a movement to
WorkPosition is carried out and braking starts at this position. As a result,
the product moves slightly behind the congured position before it turns
around and comes to a stop at the WorkPosition. This enables secure
gripping of workpieces up to the WorkPosition.
For opening, the ControlWord command 0x0100 is written. Then the
product moves away from the workpiece to the BasePosition in the Positi-
onProle without the need for any prompts from the operator. Here, the
product moves at the speed set in the DriveVelocity parameter.
The individually available DeviceModes and their differences are
explained in the following.
60– Force prole – without holding pressure for energy-saving gripping
When starting from the BasePosition, an unlocking operation is run for releasing. Only then does the product start moving
toward the workpiece. If the product encounters the workpiece while moving, an increase in current is detected and the
congured gripping force is built up. The product is now in the self-locked state and the motor is practically de-energized.
If the workpiece disengages from the gripper, the gripper jaws do not follow along and no part loss can be detected.
ÖBecause in this mode the motor current is switched off after gripping the workpiece, this mode provides outstanding
energy savings during gripping.
61– Force prole – high clock rate for energy-saving gripping
Behaves like mode 60, but when the gripping movement starts, the unlocking operation is omitted. This starts the
movement immediately and enables a shorter response time in the gripping direction towards the WorkPosition. It must be
ensured that in the BasePosition, no external forces act on the gripper jaws.
63 – Force prole – with holding pressure for detecting part loss – standard
Behaves like mode 60, but in addition, in this mode the motor is energized continuously after gripping the workpiece, which
results in further movement to the WorkPosition when parts are lost. This enables the part loss to be detected by sensing
the WorkPosition, otherwise the TeachPosition bit is TRUE.
ÖThis mode is the recommended standard operating mode!
65 – Force prole – without holding pressure for exible/elastic components
Behaves like mode 60, but the product has a lower movement speed because the majority of the gripping force is created
directly by the motor current. However, it is no longer possible to generate the full nominal force because of the lower
kinetic energy. Therefore, this movement prole is better suited for exible/elastic workpieces. The gripping force generated
in these movement proles depends on the elasticity of the workpiece.
Group 60 – Outside gripping
DeviceMode Action ControlWord
6x Move toward the BasePosition for opening the product. 0x0100
60 Move toward the WorkPosition until this position or the workpiece is reached and
switch off the motor. 0x0200
61 Move toward the WorkPosition without an unlocking process until this position or
the workpiece is reached. 0x0200
go Move toward the WorkPosition until this position or the workpiece is reached and
detect part loss. 0x0200
65 Move toward the WorkPosition until this position or the workpiece is reached.
Mode for elastic/exible components. 0x0200
11.13.3.2 Group 70 Force proles – inside gripping
In movement prole group 70, the product in the ForceProle moves
from the WorkPosition toward the BasePosition onto the workpiece using
the ControlWord command 0x0100.
When the workpiece is gripped, the congured gripping force is built up
and the product goes into a self-locked state. For releasing, an internal
unlocking operation must be carried out.
If no workpiece is gripped during the gripping process, a movement to
BasePosition takes place and braking starts at this position. As a result,
the product moves slightly behind the congured position before it turns
around and comes to a stop at the BasePosition. This enables secure
gripping of workpieces up to the BasePosition.
For opening, ControlWord command 0x0200 is written. Then the product
moves away from the workpiece to the WorkPosition in the Positi-
onProle without the need for any prompts from the operator. Here, the
product moves at the speed set in the DriveVelocity parameter.
The individually available DeviceModes and their differences are
explained in the following.
70– Force prole – without holding pressure for energy-saving gripping
When starting from the WorkPosition, an unlocking operation is run for releasing. Only then does the product start moving
toward the workpiece. If the product encounters the workpiece while moving, an increase in current is detected and the
congured gripping force is built up. The product is now in the self-locked state and the motor is practically de-energized.
If the workpiece disengages from the gripper, the gripper jaws do not follow along and no part loss can be detected.
ÖBecause in this mode, the motor current is switched off after gripping the workpiece, this mode provides outstanding
energy savings during gripping.

INSTALLATION AND OPERATING INSTRUCTIONS: GEH6000IL/GED6000ILINSTALLATION AND OPERATING INSTRUCTIONS: GEH6000IL/GED6000IL
38 39
EN / 2021-07-28DDOC00212 / 0 EN / 2021-07-22DDOC00212 / 0
Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • www.zimmer-group.com
71 – Force prole – high clock rate for energy-saving gripping
Behaves like mode 70, but when the gripping movement starts, the unlocking operation is omitted. This starts the
movement immediately and enables a shorter response time in the gripping direction towards the BasePosition. It must be
ensured that in the WorkPosition, no external forces act on the gripper jaws.
73 – Force prole – with holding pressure for detecting part loss - standard
Behaves like mode 70, but in addition, in this mode, the motor is energized continuously after gripping the workpiece, which
results in further movement to the BasePosition when parts are lost. This enables the part loss to be detected by sensing
the BasePosition, otherwise the TeachPosition bit is TRUE.
ÖThis mode is the recommended standard operating mode!
75 – Force prole – without holding pressure for exible/elastic components
Behaves like mode 70, but the product has a lower movement speed because the majority of the gripping force is created
directly by the motor current. However, it will no longer be possible to generate the full nominal force because of the lower
kinetic energy. Therefore, this movement prole is better suited for exible workpieces. The gripping force generated in
these movement proles depends on the elasticity of the workpiece.
Group 70 – Inside gripping
DeviceMode Action ControlWord
7x Move toward the WorkPosition for opening the product. 0x0200
70 Move toward the BasePosition until this position or the workpiece is reached and
switch off the motor. 0x0100
71 Move toward the BasePosition without an unlocking process until this position or
the workpiece is reached and switch off the motor. 0x0100
ho Move toward the BasePosition until this position or the workpiece is reached and
detect part loss. 0x0100
75 Move toward the BasePosition until this position or the workpiece is reached.
Mode for elastic components. 0x0100
11.13.4 Pre-positioning – Force proles
The following modes can be used for force-t
gripping of workpieces.
The gripping force is built up by the movement
speed of the gripper jaws and the motor
current. To do this, the product calculates
the required movement speed (GripVelocity)
automatically from the GripForce parameter.
When gripping a workpiece, independent
mechanical locking is achieved in the
mechanical system, making it possible to
hold the workpiece while de-energized. To
disengage from this reliably, this requires a
special unlocking procedure. For opening, a
movement automatically takes place toward the
standby position at DriveVelocity. To do this,
the product switches into positioning mode
automatically.
The difference to DeviceModes 60/70 is in the
use of pre-positioning. Therefore, this mode
is particularly well suited to time-optimized
gripping with long strokes followed by force-t
gripping.
The graphic applies to Mode Group 80 and
thus shows outside gripping.
For Mode Group 90, exchange the BasePo-
sition and the WorkPosition.
Gripping (in the direction of WorkPosition):
WorkPosition
Speed in %
DriveVelocity
BasePosition
Position in mm
PositionTolerance (PT) PT PT PT
PT PT
ShiftPosition
TeachPosition
GripVelocity
(calculated)
Open:
WorkPosition
Speed in %
DriveVelocity
BasePosition
Position in mm
PositionTolerance (PT) PT PT PT
Parameter Description
BasePosition Open position
WorkPosition Closed position – behind the workpiece
GripForce Desired gripping force
TeachPosition Expected position of the workpiece
PositionTolerance Permitted tolerance for the position window
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 prole determines the direction in which the workpiece is gripped:
• For outside gripping, the movement prole group 80 is used.
• For inside gripping, the movement prole group 90 is used.