Zimmer GEH6000IL Series User manual

INSTALLATION AND
OPERATING
INSTRUCTIONS
GEH6000IL/GED6000IL series
Gripper, electric
DDOC00212
THE KNOW-HOW FACTORY
www.zimmer-group.com

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series
2
DDOC00212 / l EN / 2019-10-28
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
Parameter explanation (glossary)
Parameter Explanation
ControlWord
The gripper is controlled with the "ControlWord".
The "ControlWord" is bit-exclusive, which means that only one bit at a time can be
active in the "Word". The value "NULL" is also permitted.
DeviceMode The "DeviceMode" is used to select gripping proles as well as the additional help
modes in the gripper.
Workpiece No. Using this parameter, workpiece recipes stored in the gripper can be selected or
saved.
TeachPosition The "TeachPosition" is the actual workpiece position.
WorkPosition The "WorkPosition" is the inner jaw position on the gripper. Depending on the
application, for example with internal grippers, this can also be the standby position.
GripForce The "GripForce" parameter is used to congure the gripping force.
PositionTolerance This is the tolerance window for the "TeachPosition", "BasePosition" and
"WorkPosition". The value of the parameter acts in both directions.
BasePosition The "BasePosition" is the outer "JawPosition". Depending on the gripper prole, this
can also be a work position!
ShiftPosition The "ShiftPosition" is a switching position between pre-positioning and gripper
movement.
StatusWord In its bits, the "StatusWord" supplies the most important information about the status
of the gripper back to the control.
Diagnosis If an error should occur, the "Diagnosis" outputs a diagnostic code which can be
compared with the error list.
ActualPosition The value of the current position of the gripper [1/100 mm].
Error Fault, error message
DIR Direction/24V cable connection - Depending on the gripper, this signal is used to
move the gripper.
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 as a command
to dene the reachable end positions of the gripper jaws.
GND Abbreviation for ground connection
Offset Correction value
Traversing routine Dened procedure for movement of the gripper jaws
Travel path Path on which the gripper jaws travel

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series
3
DDOC00212 / lEN / 2019-10-28
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
Content
1. Supporting documents.......................................................................................................................................................5
2. Safety instructions...............................................................................................................................................................5
3. Proper use............................................................................................................................................................................6
4. Personnel qualication .......................................................................................................................................................6
5. Product description.............................................................................................................................................................7
5.1 Possible applications........................................................................................................................................................................................7
5.2 Forces and torques...........................................................................................................................................................................................7
5.3 Type plate .........................................................................................................................................................................................................7
6. Function ...............................................................................................................................................................................8
6.1 Electrical specications....................................................................................................................................................................................8
6.2 LED display .......................................................................................................................................................................................................9
6.3 Veried conguration........................................................................................................................................................................................9
6.4 Protection classes.............................................................................................................................................................................................9
6.5 Technical data ...................................................................................................................................................................................................9
6.6 Self locking mechanism ...................................................................................................................................................................................9
7. Installation..........................................................................................................................................................................10
7.1 Safety instructions...........................................................................................................................................................................................10
7.2 Installation of the mechanical system GEH6000IL ......................................................................................................................................10
7.3 Installation of the mechanical system GED6000IL ......................................................................................................................................11
7.4 Installation of the electrical system GEH6000IL + GED6000IL ...................................................................................................................12
7.4.1 Installation of the wiring ................................................................................................................................................................12
7.4.2 “IO-Link” installation ......................................................................................................................................................................12
7.4.3 Installation of “Special gripper with a second cable” (STO connecting cable) ........................................................................13
7.5 Static charge ..................................................................................................................................................................................................14
7.6 Heat dissipation...............................................................................................................................................................................................15
7.7 Installation of accessories ..............................................................................................................................................................................15
8. Commissioning..................................................................................................................................................................15
8.1 Process data....................................................................................................................................................................................................15
8.1.1 IODD import ...................................................................................................................................................................................16
8.2 “Handshake” data transmission method ......................................................................................................................................................16
8.3 Parameter ........................................................................................................................................................................................................17
8.3.1 “ControlWord” parameter .............................................................................................................................................................17
8.3.2 “DeviceMode” parameter..............................................................................................................................................................18
8.3.3 Movement proles .........................................................................................................................................................................19
8.3.4 “WorkpieceNo” parameter............................................................................................................................................................24
8.3.5 “PositionTolerance” parameter .....................................................................................................................................................24
8.3.6 “GripForce” parameter ..................................................................................................................................................................24
8.3.7 “DriveVelocity” parameter .............................................................................................................................................................25
8.3.8 “BasePosition” parameter.............................................................................................................................................................25
8.3.9 “ShiftPosition” parameter..............................................................................................................................................................25
8.3.10 “TeachPosition” parameter ...........................................................................................................................................................26
8.3.11 “WorkPosition” parameter.............................................................................................................................................................26
8.3.12 “StatusWord” parameter ...............................................................................................................................................................26
8.3.13 “Diagnosis” parameter ..................................................................................................................................................................28
8.3.14 “ActualPosition” parameter ...........................................................................................................................................................28
8.4 “Cold start”......................................................................................................................................................................................................28
8.5 Minimum travel path .......................................................................................................................................................................................28
8.6 Referencing by “Homing” .............................................................................................................................................................................29
8.6.1 “DeviceMode” 10...........................................................................................................................................................................30
8.6.2 “DeviceMode” 14...........................................................................................................................................................................30
8.6.3 “DeviceMode” 16...........................................................................................................................................................................31
8.6.4 “DeviceMode” 17...........................................................................................................................................................................32

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series
4
DDOC00212 / l EN / 2019-10-28
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
8.7 Interruption of the power supply....................................................................................................................................................................33
8.8 “Easy Startup”.................................................................................................................................................................................................33
8.9 Start of data transmission ..............................................................................................................................................................................33
8.10 “Quickstart” basic parameters.......................................................................................................................................................................34
8.11 Starting gripping movement ..........................................................................................................................................................................35
8.12 Repeated movements in the same direction ................................................................................................................................................35
8.13 Recipe examples.............................................................................................................................................................................................36
8.13.1 “Store recipe”.................................................................................................................................................................................36
8.13.2 “Load recipe” .................................................................................................................................................................................37
9. Operation ...........................................................................................................................................................................37
9.1 Emergency release GEH6000IL.....................................................................................................................................................................37
9.2 Emergency release GED6000IL.....................................................................................................................................................................38
10.Gripping force charts ........................................................................................................................................................38
11.Troubleshooting.................................................................................................................................................................38
12.Maintenance ......................................................................................................................................................................41
13.Accessories/scope of delivery.........................................................................................................................................41
14.Transportation/storage/preservation ..............................................................................................................................41
15.Decommissioning and disposal.......................................................................................................................................41
16.RoHS declaration ..............................................................................................................................................................42
17.REACH declaration ...........................................................................................................................................................42
18.Declaration of Incorporation.............................................................................................................................................43
19.Declaration of Conformity.................................................................................................................................................44

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series
5
DDOC00212 / lEN / 2019-10-28
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
1. Supporting documents
NOTICE:
Read through the installation and operating instructions carefully before installing 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 life time.
The documents listed below are available for download on our website.
Öwww.zimmer-group.com
Only those documents currently available on the website are valid.
• Catalogs, drawings, CAD data, 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 and repairs may only be performed by qualied specialists
in accordance with these installation and operating instructions.
2. The gripper is state-of-the-art. It is tted to industrial machines and is used to hold workpieces. The
following are examples of situations in which the gripper may cause a hazard:
• the gripper is not properly tted, used or maintained
• the gripper module is not used for its intended purpose
• local regulations (legislation, ordinances, guidelines), such as the EC Machinery Directive,
accident prevention regulations and the installation and operating instructions, are not
observed.
3. The gripper may be used only in accordance with its proper use and technical data. Zimmer GmbH
shall accept no liability for any damage caused by improper use.
4. Any use other than the intended use requires written approval from Zimmer GmbH.
5. Make sure that the power cables are disconnected before you install, modify, maintain or repair the
gripper.
6. In case of maintenance, conversion or expansion work, remove the gripper from the machine and
perform the work outside the danger zone.
7. When commissioning or testing, make sure that the gripper cannot be actuated by mistake.
8. Modications to the gripper, such as adding drilled holes or threads, may be made only with prior
approval from Zimmer GmbH.
9. The specied maintenance intervals are to be observed; also refer to the “Maintenance” section.
When the gripper is used under extreme conditions, the maintenance interval must be adapted
depending on the extent of the contamination. Please contact our hotline for this purpose.
10.Use of the gripper under extreme conditions, such as aggressive liquids and abrasive dusts, is
subject to prior approval from Zimmer GmbH.
11.Do not reach into the operational range of the gripper!

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series
6
DDOC00212 / l EN / 2019-10-28
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
3. Proper use
NOTICE:
The gripper is to be used only in its original state with its original accessories, without any
unauthorized changes and within the scope of its dened parameters of 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cations must not
be made.
The gripper is designed exclusively for electric operation using a supply voltage of 24 VDC.
The gripper is used as dened under “Proper use” in enclosed rooms to temporarily grip, handle and hold parts.
The gripper is not suitable for clamping workpieces during a machining process.
Direct contact with perishable goods/food is not permitted.
4. Personnel qualication
Installation, commissioning and maintenance may only be performed by qualied personnel. These personnel must
have read and understood the installation and operating instructions in full.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series
7
DDOC00212 / lEN / 2019-10-28
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
5. Product description
NOTICE:
To ensure that the gripper jaws do not get deformed, care must be taken to ensure that the
conguration of the gripping force and the selection of the gripper nger length is correct.
An incorrect conguration or selection can lead to malfunction.
CAUTION:
Reduction of gripping force
Reduce the gripping force of the gripper when gripping exible components.
A reduced gripping force can lead to material damage or injury to personnel, because the
components that are being gripped can no longer be securely gripped and transported.
5.1 Possible applications
Inside gripping („DeviceMode“ 70):
The gripper can be used for inside
gripping.
The gripper moves at the
set “DriveVelocity” back into
“WorkPosition”.
Outside gripping („DeviceMode“ 60):
The gripper can be used for outside
gripping.
The gripper moves at the set
“DriveVelocity” back to “BasePosition”
position.
5.2 Forces and torques
INFORMATION:
For information on forces and torques, please visit our website
Öwww.zimmer-group.com
If not specied otherwise, these values are to be reached with a xed workpiece made of metal.
If you should have further questions about forces and torques, please contact Zimmer GmbH
Customer Service.
5.3 Type plate
A type plate is attached to the housing of the gripper.
The serial number and the article number are shown on this type plate.
►This serial number ensures that the unit has an unambiguous, continuous
classication in the event of an update or an overhaul.
►You should assign the serial number to your project when possible.
ÖExample:
• Serial number: 01-12345678
INFORMATION:
Please state the serial number in the event of damage or a complaint.
If you still have questions, please contact Zimmer Customer Service.
Inside gripping
e.g. "DeviceMode" 70
Outside gripping
e.g. "DeviceMode" 60

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series
8
DDOC00212 / l EN / 2019-10-28
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
6. Function
The gripper ngers of the parallel gripper are arranged parallel to each other on two opposing guide rails and can be
moved relative to each other. With the centric gripper, the gripper jaws and their guide rails are offset by 120° to each
other.
The force of the motor is transmitted over a worm drive. A pinion and a rack generate the movement of the gripper jaws
and synchronize these movements.
Despite its small installation space, the gripper is qualied for the gripping of a wide range of large and positive-t
parts and can easily be integrated into the existing control system. The gripping force can be adapted optimally to the
workpiece conditions via IO-Link.
Fig. 1: Cutaway view of the GEH6000IL series gripper
Fig. 2: Cutaway view of the GED6000IL series gripper
6.1 Electrical specications
INFORMATION:
Please refer to our website for information on electrical specications
Öwww.zimmer-group.com
This data varies within the series depending on the specic design. If you should have further
questions about the electrical specications, please contact Zimmer GmbH Customer Service.
1Energy supply
2Rack and pinion gear
3Mounting and positioning
4Removable centering sleeve
5Precise T-slot guide
6Helical worm gear
7Robust, lightweight housing
8Drive

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series
9
DDOC00212 / lEN / 2019-10-28
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
6.2 LED display
6.3 Veried conguration
INFORMATION:
Please refer to our website for information on veried congurations
Öwww.zimmer-group.com
If you still have questions about the veried conguration, please contact Zimmer Customer Service.
6.4 Protection classes
NOTICE:
The gripper achieves protection class IP54 in all mounted positions of installation.
6.5 Technical data
INFORMATION:
Please refer to our website Öwww.zimmer-group.com for technical data
This data varies within the series depending on the specic design. If you should have further
questions about technical data, please contact Zimmer GmbH Customer Service.
6.6 Self locking mechanism
INFORMATION:
The gripper has a mechanical self locking mechanism to ensure that the workpiece is still held by the
gripper in the event of situations of power supply loss or failure (such as an emergency stop).
ÖThis function does not apply for the GEH60xxIL-31-B series.
If you still have questions, please contact Zimmer Customer Service.
bmbl bnbobp
bl "TeachPosition"
bm Error
bn Power supply on
bo "WorkPosition"
bp "BasePosition"

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series
10
DDOC00212 / l EN / 2019-10-28
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
7. Installation
7.1 Safety instructions
NOTICE:
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 Installation of the mechanical system GEH6000IL
The gripper must be installed on a
mounting surface in accordance with the
levelness specications.
Length < 100 mm permitted unevenness
< 0.02 mm
Length > 100 mm permitted unevenness
< 0.05 mm
The gripper can be installed with its base
or laterally onto the mounting piece.
When doing so, make sure the levelness
specications are adhered to.
The following work steps must be
observed during installation:
►Insert a straight pin or a centering
sleeve bq in the designated ts 6on
the gripper.
ÖStraight pin or centering
sleeve, depending on
variant.
►Use a straight pin or a centering sleeve bq to position the gripper on the designated mounting piece.
►Use the mounting screws br to secure the gripper onto the mounting piece.
ÖScrew-in depth = min. 1.5xØ
ÖThe mounting screws are not included in the scope of delivery.
ÖStrength class of the mounting screws at least 8.8 ÖDIN EN ISO 4762.
ÖObserve the tightening torque of the mounting screws.
ÖMake sure the mounting surface is su󹱺ciently rigid and level.
NOTICE:
Non-compliance may result in property damage.
br
bq
br
3
3
br
bq