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
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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
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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

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
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Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
7.3 Installation of the mechanical system GED6000IL
The gripper must be installed on a mounting
surface in accordance with the levelness
specications.
Diameter < 100 mm permitted unevenness
< 0.02 mm
Diameter > 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 3on 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.
►Fix the gripper to the adjacent construction
with the mounting screws br and the mounting
threads 3.
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.
bq
br
3
br

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
12
DDOC00212 / l EN / 2019-10-28
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
7.4 Installation of the electrical system GEH6000IL + GED6000IL
7.4.1 Installation of the wiring
►Connect the supply cable to the gripper and the control.
ÖYou can nd the corresponding supply cable on our website
Öwww.zimmer-group.com
CAUTION:
Destruction of the gripper
In the event that the polarity of the gripper is reversed, the gripper may be destroyed as a result of the
duration of current of the IO-Link chip C/Q (pin 4) being too long.
ÖMake sure that the gripper is correctly connected at all times!
INFORMATION:
The cables that are used by Zimmer GmbH feature a minimum bending radius of 10 x the outer
diameter.
This bending radius must not be undershot!
ÖAll IO-Link cables that are installed in grippers have an outer diameter of 5 mm and thus have a
bending radius of 50 mm.
ÖFreely suspended cables must be secured to prevent excessive motion loads or pinching.
7.4.2 “IO-Link” installation
GEH6000IL/GED6000IL
PIN assignment of the power supply line:
PIN Color Function Explanation
1Brown Sensor + 24 V DC Power supply for IO-Link communication
2White Actuator + 24 V DC Actuator supply voltage
3Blue GND sensor Sensor 0 V DC supply voltage
4Black C/Q IO-Link communication
5Gray GND actuator Actuator 0 V DC supply voltage
The following steps must be carried out for commissioning or installation of the gripper with IO-Link:
►Connect the gripper to the IO-Link master.
►Ensure the voltage supply.
ÖFor Port Class A + B, additional power supply via Y-cable.

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
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Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
7.4.3 Installation of “Special gripper with a second cable” (STO connecting cable)
INFORMATION:
The “Semi-Standard” gripper has a second cable that feeds the STO signals (Safe-Torque-OFF)
outside.
The gripper is distinguished from the standard gripper only by the second cable. This means that all
operation modes, signals and commands are identical.
PIN assignment of the power supply line:
PIN Color Function Explanation
1Brown Sensor + 24 V DC Power supply for IO-Link communication
2White Actuator + 24 V DC Actuator supply voltage
3Blue GND sensor Sensor 0 V DC supply voltage
4Black C/Q IO-Link communication
5Gray GND actuator Actuator 0 V DC supply voltage
PIN assignment of the STO cable:
PIN Color Function Explanation
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
The STO-1 and STO-2 signals must be connected at the same time using the identical voltage level (0 V or 24 V).
If one STO signal differs from the other, the gripper switches to a safe state, reports at “Diagnostics” = 0x100 Ö
that the gripper cannot be moved any longer without a “cold start” (what is referred to as a fatal error).
Wiring:
If the two STO signals have the status of “FALSE” (0 V), the STO circuit in the gripper is interrupted and the
gripper is in a safe state.
To move the gripper again, both STO signals have to be set to the status of “TRUE” (24 V). The diagnostics of the
gripper change to 0x01 (Motor OFF) if the parameter values are correct.
The motor can now be switched on, the desired “DeviceMode” can be selected and transmitted and movement
can subsequently be started.

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
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Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
7.5 Static charge
The movement of the gripper jaws create low voltages as a result of static charging. This charging cannot be
dissipated if a discharge is also not possible via the workpiece.
NOTICE:
Non-compliance may result in damage to the system
Grounding the gripper attachment / gripper jaws is recommended if ESD-sensitive parts come into
contact with the gripper.

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
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7.6 Heat dissipation
In the event of high ambient temperatures, the gripper has to be installed on heat-dissipating materials.
7.7 Installation of accessories
INFORMATION:
Visit our website for a complete overview of accessories for the GEH6000IL series:
Öwww.zimmer-group.com.
If you still have questions about accessories, please contact Zimmer GmbH Customer Service.
NOTICE:
Before installing an accessory, make sure it is suitable for use with the selected variant.
You can nd more information on available accessories on our website
Öwww.zimmer-group.com.
8. Commissioning
8.1 Process data
The option exists for the gripper to be controlled only by the process data transmitted in each cycle.
Outputs: Process data from the IO-Link master to the gripper
Name Data type
ControlWord UINT 16
DeviceMode UINT 8
Workpiece No. UINT 8
Reserve UINT 8
PositionTolerance UINT 8
GripForce UINT 8
DriveVelocity UINT 8
BasePosition UINT 16
ShiftPosition UINT 16
TeachPosition UINT 16
WorkPosition UINT 16
Name Data type
StatusWord UINT 16
Diagnosis UINT 16
ActualPosition UINT 16
Grippers
Input
Control
system
Edition

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
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Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
8.1.1 IODD import
►Importing the IODD (device description) into the control system.
ÖCall up our website at Öwww.zimmer-group.com
ÖSelect the desired gripper and download the corresponding .zip le via the “Download IODD” link.
ÖThe .zip le is required for importing into the control.
When the hardware conguration is complete and the IO-Link connection to the gripper is established, some
data must be visible in the process input data.
ÖSome control systems demand a byte swap to bring this process data into a logical sequence.
►To determine whether a byte swap is necessary, you can view bit 6 (GripperPLCActive) in the “StatusWord”.
► For this purpose, it is necessary to determine whether bit 6 is active in the rst or second byte of the
“StatusWord”.
ÖIf bit 6 is active in the rst byte, the bytes already have the correct sequence and commissioning
can be continued.
ÖIf bit 6 is active in the second byte, a ByteSwap still has to be applied here.
ÖFor further information, refer to the “StatusWord” chapter.
INFORMATION:
It is mandatory to verify the process data.
The control of the gripper takes place via IO-Link by means of the cyclical process data as well as the acyclical
service data with a cycle time of 10 ms.
8.2 “Handshake” data transmission method
All process data that is transmitted to the gripper and is described in the sections that follow must be transmitted
using the “handshake” method.
INFORMATION:
This method is referred to as a “handshake” because it enables “clean” transmission.
The process data transmission takes place, so to speak, from “hand to hand” - from the control
system to the gripper.
The following steps are required for the “handshake”:
The data transmission starts with the transmission of "ControlWord" = 0x01 to the gripper.
Subsequently, the response of the gripper must be tested by means of "Statusbit" 12 = TRUE 
(data transmission OK).
The data transmission is complete when the gripper sends back "Statusbit" 12 = "DatatransferOK" =
FALSE.
►For an example, refer to the "Quickstart Basic Parameters" chapter.

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
17
DDOC00212 / lEN / 2019-10-28
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
8.3 Parameter
8.3.1 “ControlWord” parameter
NOTICE:
In the “ControlWord” parameter, only one single bit may be set at a time. Only the values listed in the
following table are valid:
Parameter Decimal value Hexadecimal value
Data transfer 1 0 x 1
WritePDU 2 0 x 2
ResetDirectionFlag 4 0 x 4
Teach 128 0 x 80
MoveToBase 256 0 x 100
MoveToWork 512 0 x 200
JogToWork "+" 1024 0 x 400
JogToBase "-" 2048 0 x 800
Name "ControlWord"
Data format UINT16
Permission Write
Transmission Cyclical
Value range 0 to 65535
“ControlWord” structure:
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 2 "Teach" - - - - "ResetDirec-
tionFlag" "WritePDU" "Datatransfer"
Bit 0: „Datatransfer“
►When this bit is set, the gripper accepts the data transferred in the process data
Bit 1: „WritePDU“
►Setting this bit communicates to the gripper that it should write the current process data to the
selected tool recipe.
Bit 2: „ResetDirectionFlag“
► Setting this bit informs the gripper 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.

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
18
DDOC00212 / l EN / 2019-10-28
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
Bit 7: „Teach“
►Setting this bit informs the gripper to save the current position as the “TeachPosition” in the
selected “WorkpieceNo”.
INFORMATION:
This only works if there is no “0” that is transmitted in the workpiece number!
Bit 8: „MoveToBase“
►Setting this bit communicates to the gripper that it should move to the “BasePosition”.
Bit 9: „MoveToWork“
►Setting this bit communicates to the gripper that it should move to the “WorkPosition”.
Bit 10: „JogToWork“
►Setting this bit in the “ControlWord” puts the gripper in jog mode and slowly moves toward the
“WorkPosition”. If the bit is reset, the gripper stops.
Bit 11: „JogToBase“
►Setting this bit in the “ControlWord” puts the gripper in jog mode and slowly moves toward the
“BasePosition”. If the bit is reset, the gripper stops.
8.3.2 “DeviceMode” parameter
Name "DeviceMode"
Data format UINT8
Permission Write
Transmission Cyclical
Value range 0 to 256
“Basic commands”
These modes control the basic gripper actions.
"DeviceMode" Action "ControlWord"
0 Not guided to the motor control system dc
1 Idle 0x1
2 Gripper reset 0x1
3 Switch on motor 0x1
5 Switch off motor/stop gripping movement 0x1
10 Start homing (only necessary if the gripper was moved without a voltage
supply) 0x1
11 Enable jog mode 0x400/0x800

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
19
DDOC00212 / lEN / 2019-10-28
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
8.3.3 Movement proles
“PositionProle”
The gripper moves into the “PositionProle” using this mode.
The movement speed is congured using the “DriveVelocity” parameter.
The “TeachPosition” does not have any signicance in this mode because the “BasePosition” or “WorkPosition”
is always approached precisely.
If the gripper encounters an obstacle in this mode while moving, it stops and issues an error message.
The gripper can be moved from the obstacle back to the starting position if the command is switched in the
“ControlWord”.
No dened gripping forces can be generated in this mode. As a result, friction-locked gripping is not permitted in
this mode.
"DeviceMode" Action "ControlWord"
50 Move to "BasePosition". 0x100
50 Move to "WorkPosition". 0x200
51
Move to "BasePosition".
Special movement prole for a faster movement of the gripper. The gripper
must never be jammed, i.e. neither be at the end stop nor have gripped a
workpiece.
0x100
51
Move to "WorkPosition".
Special movement prole for a faster movement of the gripper. The gripper
must never be jammed, i.e. neither be at the end stop nor have gripped a
workpiece.
0x200
DriveVelocity [%]
BasePosition [1/100 mm]0-point WorkPosition [1/100 mm]

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
20
DDOC00212 / l EN / 2019-10-28
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
“ForceProle”
ÖApplies for all GEH6000IL, with the exception of GEH60xxIL-31-B
In this mode, the gripper moves onto the workpiece in the “ForceProle”.
ÖThe “GripForce” parameter is used to congure the desired gripping force.
ÖThe “TeachPosition” parameter is used to dene the workpiece position.
Since gripping typically only occurs in one direction, there is a distinction made between the two mode groups
“60” and “70”.
ÖIn the “60” movement prole group, the gripper in the “ForceProle” moves from the
“BasePosition” toward the “WorkPosition” onto the workpiece using the “ControlWord” command
“0x200”.
ÖIf the “ControlWord” command “0x100” is written in the “60” mode group, then the gripper travels
away from the workpiece to the “BasePosition” in the “PositionProle”, without the need for any
prompts from the user. Here, the gripper moves at the speed set in the “DriveVelocity” parameter.
ÖThis procedure is reversed in the “70” mode group. As such, the “60” mode group is used for
outside gripping and the “70” mode group for inside gripping.
The two mode groups “60” and “70” are usually used for an optimized gripping cycle of hard workpieces
because the main focus here is on a quick gripper movement with relatively low current values. If the gripper is
stopped suddenly by a spring-loaded workpiece, it is no longer able to generate the desired gripping force.
For this reason, mode groups “65” and “75” should be used for elastic/exible workpieces. In these mode
groups, the gripper has a relatively low movement speed because the majority of the gripping force is created
directly by means of the electrical current.
However, it will no longer be possible to generate full gripping force. The gripping force generated in these mode
groups depends on the elasticity of the workpiece.
Group „60“ - typically used for outside gripping
"DeviceMode" Action "ControlWord"
60 Move toward the "WorkPosition" until this position or the workpiece is
reached. 0x200
60 Move toward the "BasePosition" for opening the gripper. 0x100
61
Move toward the "WorkPosition" until this position or the workpiece is
reached.
Special movement prole for a faster movement of the gripper. In the "open
position", the gripper must not be jammed, i.e. neither be at the end stop
nor have gripped a workpiece.
0x200
61 Move toward the "BasePosition" for opening the gripper. 0x100
Group „65“ - typically used for outside gripping with elastic workpieces
"DeviceMode" Action "ControlWord"
65 Move toward the "WorkPosition" until this position or the workpiece is
reached 0x200
65 Move toward the "BasePosition" for opening the gripper 0x100
GripForce [%]
BasePosition [1/100 mm]0-point WorkPosition [1/100 mm]
TeachPosition
PositionTolerance