Zimmer GEH6000IL Series User manual

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

2
Parameter explanation (glossary)
Parameter Explanation
ActualPosition Value of the current position of the product [1/100mm]
BasePosition Outer jaw position
Depending on the application, this can be the base position or the 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 cable connection - Depending on the product, this signal is used to move the
product.
Error Fault
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 ShiftPosition is a switching position between pre-positioning and gripper movement.
StatusWord In its bits, returns the most important information about the status of the product to the control
system.
Teach/Adjust Programming/Adjusting
With 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
Traversing routine 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
Depending on the application, this can be the end position or the work position.
Workpiece loss
detection
Function which, in case of workpiece loss, causes the product to move to the end position.
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

3
1 Supporting documents ............................................................................................................................................................... 5
1.1 Notices and graphics in the installation and operating instructions ...............................................................................................................................5
2 Safety notices............................................................................................................................................................................... 6
3 Proper use .................................................................................................................................................................................... 7
4 Personnel qualication................................................................................................................................................................ 7
5 Product description ..................................................................................................................................................................... 8
5.1 Possible applications...........................................................................................................................................................................................................8
5.2 Forces and torques..............................................................................................................................................................................................................8
5.3 Type plate .............................................................................................................................................................................................................................8
6 Functional description ................................................................................................................................................................. 9
6.1 LED status display .............................................................................................................................................................................................................10
6.2 Control ................................................................................................................................................................................................................................10
6.3 Veried conguration examples .......................................................................................................................................................................................10
6.4 Self-locking mechanism ....................................................................................................................................................................................................10
7 Technical data ............................................................................................................................................................................ 11
7.1 Electrical specications.....................................................................................................................................................................................................11
7.2 Protection class..................................................................................................................................................................................................................11
8 Accessories/scope of delivery ................................................................................................................................................. 11
9 Transportation/storage/preservation....................................................................................................................................... 11
10 Installation .................................................................................................................................................................................. 12
10.1 Installing GEH6000IL........................................................................................................................................................................................................13
10.2 Installing GED6000IL........................................................................................................................................................................................................13
10.3 Installing the energy supply ..............................................................................................................................................................................................14
10.3.1 Installing the wiring..............................................................................................................................................................................................15
10.3.2 Installing the wiring with additional STO connection.......................................................................................................................................15
10.4 Wiring..................................................................................................................................................................................................................................15
10.5 Static charge ......................................................................................................................................................................................................................16
10.6 Heat dissipation .................................................................................................................................................................................................................16
10.7 Installing accessories ........................................................................................................................................................................................................16
11 Commissioning .......................................................................................................................................................................... 17
11.1 Process data .....................................................................................................................................................................................................................17
11.2 IODD Import .......................................................................................................................................................................................................................18
11.3 Handshake Data Transfer Method....................................................................................................................................................................................18
11.4 Parameters .........................................................................................................................................................................................................................19
11.4.1 ControlWord.........................................................................................................................................................................................................19
11.4.2 DeviceMode ........................................................................................................................................................................................................20
11.4.3 WorkpieceNo .......................................................................................................................................................................................................22
11.4.4 PositionTolerance ................................................................................................................................................................................................22
11.4.5 GripForce .............................................................................................................................................................................................................23
11.4.6 DriveVelocity ........................................................................................................................................................................................................23
11.4.7 BasePosition ........................................................................................................................................................................................................23
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 start ............................................................................................................................................................................................................................27
11.6 Minimum travel path ..........................................................................................................................................................................................................27
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com
Content

4
11.7 Referencing by Homing.....................................................................................................................................................................................................28
11.7.1 DeviceMode 10....................................................................................................................................................................................................29
11.7.2 DeviceMode 14....................................................................................................................................................................................................29
11.7.3 DeviceMode 16....................................................................................................................................................................................................30
11.7.4 DeviceMode 17....................................................................................................................................................................................................31
11.8 Movement proles GEH6000IL-03-B/GED6000IL-03-B.................................................................................................................................................32
11.8.1 Positioning proles.............................................................................................................................................................................................33
11.8.2 Force proles .......................................................................................................................................................................................................34
11.9 Movement proles GEH6000IL-31-B/GED6000IL-31-B.................................................................................................................................................41
11.9.1 DeviceModes GEH6000IL-31-B.........................................................................................................................................................................41
11.9.2 Positioning proles.............................................................................................................................................................................................42
11.9.3 Force proles .......................................................................................................................................................................................................43
11.10 Interruption of the power supply.......................................................................................................................................................................................49
11.11 Easy Startup .......................................................................................................................................................................................................................49
11.12 Starting the data transfer ..................................................................................................................................................................................................50
11.13 Quickstart Basic Parameters ............................................................................................................................................................................................51
11.14 Starting the gripping movement.......................................................................................................................................................................................52
11.15 Repeated movements in the same direction...................................................................................................................................................................52
11.16 Recipe examples ...............................................................................................................................................................................................................53
11.16.1 Save recipe...........................................................................................................................................................................................................53
11.16.2 Loading a recipe..................................................................................................................................................................................................54
12 Operation....................................................................................................................................................................................55
12.1 Emergency release of GED6000IL ..................................................................................................................................................................................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............................................................................................................................................................................... 64
17 Decommissioning/disposal ...................................................................................................................................................... 64
18 RoHS declaration....................................................................................................................................................................... 65
19 REACH declaration.................................................................................................................................................................... 65
20 Declaration of Incorporation ..................................................................................................................................................... 66
21 Declaration of Conformity ......................................................................................................................................................... 67
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

5
1 Supporting documents
NOTICE
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 those documents currently available on the website are valid.
In these installation and operating instructions, "product" refers to the product designation on the title page!
1.1 Notices and graphics in the installation and operating instructions
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.
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

6
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.
►Whenever work is carried out on the product, make sure that the product cannot be actuated by mistake.
►Perform maintenance tasks, renovation work or attachment work outside of the machine's danger zone when
possible.
►Do not reach into the operational range of the product.
►Always adhere to the required maintenance intervals.
►When using the product under extreme conditions, adjust the maintenance interval according to the degree of
contamination.
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

7
3 Proper use
NOTICE
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 intended for industrial use.
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.
Observance of the technical data and of the installation and operating instructions are part of proper use.
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.
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

8
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.
MoveToWork command MoveToBase command
5.2 Forces and torques
INFORMATION
►You can nd the information in the technical data sheet on our website.
►Please contact Zimmer Customer Service if you have any questions.
5.3 Type plate
A type plate is attached to the housing of the product.
XXX
XX-XXXXXX
am
an
The article number and conrmation number are shown on the type
plate.
am Article number
an Conrmation number
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

9
6 Functional description
The gripper jaws of the GEH6000IL series are arranged parallel to each other on two opposing guide rails and can be
moved relative to each other.
The gripper jaws of the GED6000IL series are arranged parallel to each other on two guide rails offset at a 120° angle.
The force of the motor is transmitted by 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 product is suited for gripping a wide range of form-t and frictional t parts.
The product can be easily integrated into the existing control system.
The gripping force can be adapted optimally to the workpiece conditions via IO-Link.
1Rack and pinion gear
2Power supply
3Removable centering sleeve
4T-slot guide
5Helical worm gear
6Drive
GEH6000IL series
3
2
4
5
6
1
GED6000ILseries
5
2
3
4
1
6
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

10
6.1 LED status display
7TeachPosition
8Error
9Power supply
bl WorkPosition
bm BasePosition
87 bm
bl9
6.2 Control
INFORMATION
►For technical data, refer to our website.
►Please contact Zimmer Customer Service if you have any questions.
6.3 Veried conguration examples
INFORMATION
►You can nd the information on our website.
• GEH6000IL series
• GED6000IL series
►Please contact Zimmer Customer Service if you have any questions.
6.4 Self-locking mechanism
INFORMATION
The product has 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).
►Note that the self-locking mechanism is not available for the products GEH6040IL-31B and GEP6060IL-31B.
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

11
7 Technical data
INFORMATION
►You can nd the information in the technical data sheet 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 Electrical specications
INFORMATION
►You can nd the information in the technical data sheet 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.
7.2 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. Zimmer GmbH accessories are specically tailored to the individual products.
►For optional accessories and those included in the scope of delivery, refer to our website.
9 Transportation/storage/preservation
►Transport and storage of the product must be done only with the original packaging.
►If the product has already been installed on the superordinate machine unit, care must be taken during transport to
ensure that no unexpected movements can occur.
►Before commissioning the product and after transport, check all power and communication connections as well as
all mechanical connections.
►If the product is stored for an extended period, the following points are to be observed:
►Keep the storage location as dust-free and dry as possible.
►Avoid temperature uctuations/observe and adhere to the temperature range.
►Avoid wind/drafts/water condensation formation.
►Cover the product with a weatherproof, tear-resistant foil to prevent dust.
►Pack the product and do not expose it to direct sunlight during storage.
►Clean all components. There must be no soiling left on the components.
►Visually inspect all components.
►Remove all foreign substances.
►Properly remove potential corrosion spots.
►Close electrical connections using suitable covers.
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

12
10 Installation
WARNING
Risk of injury due to uncontrolled movements
Risk of injury in case of unexpected movement of the machine or system into which the product is to be installed.
►Switch off the energy supply of the machine before any 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 movements
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 machine before carrying out any work.
►Secure the power supply against being switched on unintentionally.
►Check the machine for any residual energy that may be present.
NOTICE
►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
• Cleanliness of the mounting surfaces of the product and mounting piece (product grounding)
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)
►Make sure that the mounting piece is su󹱺ciently rigid.
►Observe the tightening torque of the mounting screws.
►Verify the permitted load capacity of the required screw connections in accordance with VDI 2230.
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

13
10.1 Installing GEH6000IL
The product can be installed from multiple
sides.
bn
bo
►Insert the straight pins or the centering
sleeves into the provided ts on the product.
• The type of positioning varies within the
series.
►Use the centering sleeves or straight pins to
position the product on the mounting piece.
►Mount the product on the mounting piece
using the appropriate mounting screws.
bn Mounting screw
bo Centering Disc
10.2 Installing GED6000IL
The product can be installed from multiple
sides.
bn
bo
►Insert the straight pins or the centering
sleeves into the provided ts on the product.
• The type of positioning varies within the
series.
►Use the centering sleeves or straight pins to
position the product on the mounting piece.
►Mount the product on the mounting piece
using the appropriate mounting screws.
bn Mounting screw
bo Centering Disc
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

14
10.3 Installing the energy supply
CAUTION
Destruction of the product
In the event that the polarity of the product is reversed, the IO-Link chip may be destroyed as a result of the
duration of current of the C/Q (pin 4) being too long.
►Connect the product according to its assignment diagram.
NOTICE
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!
►Freely suspended cables must be secured to prevent excessive motion loads or pinching.
►The contacts of the energy supply must be dry, clean and undamaged at all times.
ÖDamage to the contacts can result in malfunction of the product.
►Connect the power supply cable to the
control system of the product.
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

15
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
M12 5-pin plug
1Brown + 24 V DC sensor IO-Link communication supply
2White + 24 V DC actuator Actuator supply voltage
3Blue GND sensor Ground connection of the IO-Link communi-
cation
4Black C/Q IO-Link communication
5Gray GND actuator Ground connection of the actuator
►Connect the product to the IO-Link master.
►Ensure the proper voltage supply.
►Congure the IO-Link master, see the "Commissioning" section.
10.3.2 Installing the wiring with additional STO connection
pin Color Function Explanation
4
1 3
M8 3-pin plug
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
►Carry out the listed steps for wiring the product to the IO-Link.
►Wire the product to the STO line.
►Connect the STO-1 and STO-2 signals at the same time using the identical voltage level (0 V or 24 V).
ÖFailure to observe this will result in the product switching to a safe state and signaling = 0x0100 at the diagnostics.
ÖThe product cannot be moved any more without a cold boot because a fatal error is present.
10.4 Wiring
The product is in a safe state if both STO signals have the status of "FALSE" (0 V). The STO circuit in the product is
interrupted.
►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 and transfer it.
►Start the movement.
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

16
10.5 Static charge
CAUTION
Non-compliance may result in material damage.
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 also not possible through the workpiece.
NOTICE
►Pay attention to the functional ground via the connection point.
bp
bp
bp Connection point
10.6 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
ÖThe cycle time must therefore be reduced as the temperature increases.
10.7 Installing accessories
NOTICE
Before installing an accessory, make sure it is suitable for use with the selected variant.
►You can nd information on our website.
►Please contact Zimmer Customer Service if you have any questions.
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

17
11 Commissioning
11.1 Process data
There is an option to control the product only with the process data that is transmitted in each cycle.
Outputs: Process data from the IO-Link master to 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
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

18
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, refer to the "StatusWord" section.
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.
INFORMATION
►For examples, refer to the "Quickstart Basic Parameters" section.
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

19
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 1 0x0001
WritePDU 2 0x0002
ResetDirectionFlag 4 0x0004
Teach 8 0x0008
MoveToBase 256 0x0100
MoveToWork 512 0x0200
JogToWork + 1024 0x0400
JogToBase - 2048 0x0800
Name ControlWord
Data format UINT16
Permission Write
Transfer Cyclical
Value range 0 ... 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 2 - - - - Teach ResetDirec-
tionFlag
WritePDU DataTransfer
Bit 0: DataTransfer
Setting this bit causes the product to acquire the data transmitted in the process data ("WorkpieceNo" = 0) or the data
stored in the workpiece data ("WorkpieceNo" = 1 to 32) as the active data set.
Setting this bit tells the product that the direction ag needs to be reset. This function is available starting from Application
Firmware Version SWA000059_000, see Chapter "Table of acyclic data (ISDU)" Index 0x0017.
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.
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

20
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
The DeviceMode parameter can be used to control the movement of the product and the adaptation to the workpiece. For
this purpose, various basic modes and movement proles are available.
Name DeviceMode
Data format UINT8
Permission Write
Transfer Cyclical
Value range 0 ... 255
INFORMATION
►Note that different operating modes are available depending on the product, see section "Operating modes for
the GEH6000IL-03-B/GED6000IL-03-B" and "Operating modes for the GEH6000IL-31-B/GED6000IL-31-B".
INSTALLATION AND OPERATING INSTRUCTIONS:GEH6000IL/GED6000IL
DDOC00212 / p EN / 2022-05-01
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com