Zimmer GEH8000 Series User manual

INSTALLATION AND
OPERATING INSTRUC-
TIONS
GEH8000 series
Gripper, electric
DDOC00262
THE KNOW-HOW FACTORY
www.zimmer-group.com

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEH8000 series
2
DDOC00262 / a EN / 5/7/2019
Zimmer GmbH ●Im Salmenkopf 5 ●D-77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
Contents
1 Supporting documents.......................................................................................................................................................3
2 Safety notes .........................................................................................................................................................................3
3 Proper use............................................................................................................................................................................4
4 Personnelqualication .......................................................................................................................................................4
5 Product description.............................................................................................................................................................4
5.1 Forces and torques...........................................................................................................................................................................................4
5.2 Type plate .........................................................................................................................................................................................................4
5.3 Protection class.................................................................................................................................................................................................4
6 Function ...............................................................................................................................................................................5
7 Installation............................................................................................................................................................................6
7.1 Safety notes.......................................................................................................................................................................................................6
7.2 Gripper installation ...........................................................................................................................................................................................6
7.3 “X3” connector..................................................................................................................................................................................................8
7.4 Power supply installation .................................................................................................................................................................................8
7.5 Checking operational readiness ...................................................................................................................................................................... 8
7.6 Installation of accessories ................................................................................................................................................................................8
8 Commissioning....................................................................................................................................................................9
8.1 Initial commissioning “Easy Startup Mode” ................................................................................................................................................... 9
9 Gripping force charts ........................................................................................................................................................19
10 Maintenance ......................................................................................................................................................................19
11 Accessories/scope of delivery.........................................................................................................................................19
12 Transportation/storage/preservation ..............................................................................................................................19
13 Decommissioning and disposal.......................................................................................................................................19
14 RoHS declaration ..............................................................................................................................................................20
15 REACH declaration ...........................................................................................................................................................20
16 Declaration of Incorporation.............................................................................................................................................21

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEH8000 series
3
DDOC00262 / a EN / 5/7/2019
Zimmer GmbH ●Im Salmenkopf 5 ●D-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 notices
CAUTION:
Non-compliance may result in severe injuries!
1. Installation,commissioning,maintenanceandrepairsmayonlybeperformedbyqualiedexpertsinaccor-
dance with the installation and operating instructions.
2. The gripper is state-of-the-art. It is installed on industrial machines and is used to hold workpieces. The follow-
ingareexamplesofsituationsinwhichthegrippermaycauseahazard:
• The gripper is not properly installed, used or maintained.
• The gripper is not used for its intended purpose.
• Local regulations (legislation, ordinances, guidelines), such as the EC Machinery Directive, accident pre-
vention 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 ac-
cept no liability for any damage caused by improper use.
4. Any use other than the intended use requires written approval from Zimmer GmbH.
5. Do not reach into the operational range of the gripper.
6. Make sure that the power cables are disconnected before you install, modify, maintain or repair the gripper.
7. Incaseofmaintenance,conversionorexpansionwork,removethegripperfromthemachineandperformthe
work outside the danger zone.
8. When commissioning or testing, make sure that the gripper cannot be actuated by mistake.
9. Grippermodications,suchasaddingdrilledholesorthreads,maybemadeonlywithpriorapprovalfrom
Zimmer GmbH.
10.Thespeciedmaintenanceintervalsaretobeobserved;alsorefertothe“Maintenance”section.Pleasecon-
tact our Service hotline for this purpose.
11.Useofthegripperunderextremeconditions,suchasaggressiveliquidsandabrasivedusts,issubjecttoprior
approval from Zimmer GmbH.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEH8000 series
4
DDOC00262 / a EN / 5/7/2019
Zimmer GmbH ●Im Salmenkopf 5 ●D-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 unautho-
rized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.
The gripper may only be used in the original condition with original accessories.
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110-230VAC.
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.
5 Product description
5.1 Forces and torques
INFORMATION:
For information on forces and torques, please visit our website
Öwww.zimmer-group.com
If you should have further questions about forces and torques, please contact Zimmer GmbH Cus-
tomer Service.
5.2 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 and/or to your end
customer if possible.
ÖExample:Serialnumber01-12345678
INFORMATION:
Pleasestatetheconrmationnumberintheeventofdamageoracomplaint.
If you still have questions, please contact Zimmer Customer Service.
5.3 Protection class
NOTICE:
The element reaches protection class IP54 in all mounted positions of installation.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEH8000 series
5
DDOC00262 / a EN / 5/7/2019
Zimmer GmbH ●Im Salmenkopf 5 ●D-77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
6 Function
The GEH8000 series gripper has a very high gripping force. This allows secure handling of even the heaviest workpiec-
es.
The combination of servo drive (position, speed and force control) and mechanical self-locking mechanism ensures a
high degree of functionality.
The customer can individually equip the gripper jaws, which run parallel to one another. This ensures a high degree of
exibility.
Fig.1:CutawayviewoftheGEH8000gripper
1Energy supply
2Removable centering sleeve
3Gripper jaw
4Precise linear guide
5Synchronization
6Drive
7Mounting and positioning
8Robust, lightweight housing

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEH8000 series
6
DDOC00262 / a EN / 5/7/2019
Zimmer GmbH ●Im Salmenkopf 5 ●D-77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
7 Installation
7.1 Safety notices
NOTICE:
Switchotheenergysupplyfortheelectronicsbeforeanyassembly,installationormaintenance
work.
►Electronics may get damaged.
CAUTION:
Switcho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o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 Gripper installation
The gripper can be installed onto the
mounting piece by its base bm. 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

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEH8000 series
7
DDOC00262 / a EN / 5/7/2019
Zimmer GmbH ●Im Salmenkopf 5 ●D-77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
Adjacentdrawing:GEH8660
Option 1:
The following work steps must be observed
duringinstallation:
► Insertstraightpinsintheintendedtsbl.
►Use straight pins to position the gripper
on the designated mounting piece.
►Push the mounting screws through the in-
stallation holes 6from the opposite side
and secure them to the mounting piece.
ÖScrew-indepth=1.5xØ(observemate-
rial)
ÖThe mounting screws are not included in
the scope of delivery.
ÖMountingscrews:M8(DIN912or
ISO4762)
ÖMounting screw strength class min. 8.8.
ÖObserve the tightening torque of the
mounting screws.
ÖMakesurethemountingsurfaceissu-
ciently rigid and level.
Option 2:
The following work steps must be observed
duringinstallation:
► Insertstraightpinsintheintendedtsbl.
►Use straight pins to position the gripper
on the designated mounting piece.
►Push the mounting screws through the
installation holes 6on the customer side
and secure them to the mounting piece
using the installation threads 6.
ÖScrew-indepth=1.5xØ(observemate-
rial)
ÖThe mounting screws are not included in
the scope of delivery.
ÖMountingscrews:M10x15(DIN912or
ISO4762)
ÖMounting screw strength class min. 8.8.
ÖObserve the tightening torque of the
mounting screws.
ÖMakesurethemountingsurfaceissucientlyrigidandlevel.
INFORMATION:
For a complete overview of assembly options, visit our website
Öwww.zimmer-group.com.
If you still have questions about accessories, please contact Zimmer GmbH Customer Service.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEH8000 series
8
DDOC00262 / a EN / 5/7/2019
Zimmer GmbH ●Im Salmenkopf 5 ●D-77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
7.3 “X3” connector
INFORMATION:
Theterminalvariantsdepictedinthegureabsolutelymustbeobserved.
Zimmer GmbH shall accept no liability for any damage caused by improper use.
ÖForfurtherinformationabouttheconnectionassignmentfortheBOSCHRexrothHCS01series
servoamplierpleaserefertothemanufacturer'splanninginstructions.
7.4 Power supply installation
Anextensioncordforconnectingaservo
amplierbq can be joined to the gripper using
threaded couplings.
• Motor cable br
• Rotary encoder cable bs
When laying the cables, make sure they do not
crossthegripper'sworkingareaandalways
complywiththemanufacturer'sspeciedper-
missible bending radii.
7.5 Checking operational readiness
After the gripper has been properly installed, use the following characteristics to check whether it is ready to be
operated:
►Check the energy supply.
►Check all mounting screws for their prescribed tightening torque.
7.6 Installation of accessories
INFORMATION:
IfanyaccessoriesnotmarketedorauthorizedbyZimmerGmbHareused,thefunctionoftheaxis
compensation module cannot be guaranteed.
TheaccessoriesfromZimmerGmbHarespecicallyttedfortheindividualaxiscompensationmod-
ule.
Information on the corresponding optional accessories included in the scope of delivery can be found
at
www.zimmer-group.com.
L1 L2 L3
3x110V
L1 L2 L3
3x230V
L1 N
1x230V
L1 L2 L3
3x380V

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEH8000 series
9
DDOC00262 / a EN / 5/7/2019
Zimmer GmbH ●Im Salmenkopf 5 ●D-77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
8 Commissioning
8.1 Initial commissioning "Easy Startup Mode"
NOTICE:
The gripper must be connected to the converter (power supply = power line+ sensor cable). In addi-
tion, the converter must be connected to the network.
8.1.1 Setting the IP address
ThefollowingstepsmustbeobservedwhensettingtheIPaddress:
► DenetheIPaddressfortheservoamplier(default:192.168.0.1).
►Enter it manually using the control panel on the converter.
ÖEnable the corresponding IP range on the computer.
► Onthemaineldofthecontrolpanel,pressthe[ENTER]button.
►
► Select[ETHERNET]bypressingthearrowkeyandconfirmtheselectionbypressingthe[ENTER]
button.
► YoucanaccesstheIPaddressmenubypressingthe[ENTER]buttonagain.
ÖHere,youcansettheIPaddressusingthe[ENTER]and[arrowkey]buttons.
► Next,confirmtheentryusingthe[ENTER]button.
►Restart the servo amplifier.
INFORMATION:
Enter the IP address in the “Indradrive Ds” software and the PC/laptop (programming device).

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEH8000 series
10
DDOC00262 / a EN / 5/7/2019
Zimmer GmbH ●Im Salmenkopf 5 ●D-77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
8.1.2 Starting and running the “Indraworks Ds” software
INFORMATION:
The “Indraworks Ds” or “Indraworks Engineering” software must be available for initial commission-
ing.
ÖThe following informational and application steps for initial commissioning have been created and
carriedoutwiththe“IndraworksDs14V24” software.
◊ Theworkeldorsequenceofoperationsmaybedierentindierentsoftwareversions.
Please refer to the software manufacturer to learn how to use the software version avail-
able to you.
ÖZimmer GmbH accepts no liability in case of damage due to improper or incorrect functioning.
Observethefollowingstepswhenstartingandrunningthesoftware:
►Start the “Indraworks Ds” software.
►Search for connected nodes (Indra Drive Cs).
►Select nodes.
ÖFound nodes appear in a new “Connection Selection” window.
►Activate the correct node in the “Connection” column.
ÖThe IP address must match.
► Conrmwith“OK”.
ÖA connection to the controller is established.