Zimmer GEP2000 Series User manual

www.zimmer-group.de
INSTALLATION
AND OPERATING
INSTRUCTIONS
GEP2000 series
2-jaw parallel gripper
Robot-specic
electric
GEP2006IO-12-B-01
GEP2010IO-12-B-01
GEP2013IO-12-B-01
GEP2016IO-12-B-01
DDOC01113-01
THE KNOW-HOW FACTORY

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series
Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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EN / 2021-07-08DDOC01113-01 / a
Parameter explanation (glossary)
Parameters Explanation
ControlWord
The product is controlled using the "ControlWord."
The "ControlWord" is bit-exclusive, which means that only one bit at a time can be active in the
"Word." The value "ZERO" is also permitted.
DeviceMode The "DeviceMode" is used to select gripping proles as well as the additional help modes in the
product.
Workpiece No. You can use this parameter to select or save the workpiece recipes stored in the product.
TeachPosition The "TeachPosition" is the actual workpiece position.
WorkPosition The "WorkPosition" is the inner jaw position of the product. 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" returns the most important information about the status of the
product to the control system.
Diagnosis If an error should occur, the "Diagnosis" outputs a diagnostic code that can be compared with
the error list.
ActualPosition The value of the current position of the product [1/100mm].
Error Fault, error message
DIR Direction/24V cable connection – Depending on the product, this signal is used to move the
product.
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 gripper, electric, GEP2000 seriesINSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series
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Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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Content
1 Supporting documents......................................................................................................................................................... 4
1.1 Notices and graphics in the installation and operating instructions.......................................................................................................................4
2 Safety notices ........................................................................................................................................................................ 5
3 Proper use ............................................................................................................................................................................. 5
4 Personnel qualication ......................................................................................................................................................... 5
5 Product description .............................................................................................................................................................. 5
6 Function ................................................................................................................................................................................. 6
7 Installation.............................................................................................................................................................................. 6
7.1 Installing the power supply.........................................................................................................................................................................................6
7.2 Installing the power supply "GEP20xxIO-12-B-01"....................................................................................................................................................7
7.2.1 Installing the wiring .......................................................................................................................................................................................7
8 More information................................................................................................................................................................... 8
9 Declaration of Incorporation/Conformity ............................................................................................................................ 8

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series
Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
4
EN / 2021-07-08DDOC01113-01 / a
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 the product or have anything to do with the product during any
phase
of the product life cycle.
The standardized installation and operating instructions (DDOC01113) contain all the information for commis-
sioning the product.
Relevant and required information for your product can be found in both installation and operating instructions.
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
The individual hazard levels, notices and warnings are marked with signal words.
DANGER
This notice warns of an imminent danger to the life and health of people. Ignoring these notices can lead to
serious injury or even death!
►You absolutely must comply with the described measures for avoiding these dangers!
ÖThe warning symbols are assigned according to the type of danger.
WARNING
This notice warns of a situation that is potentially hazardous to personal health. Ignoring these notices can cause
serious injury or damage to health.
►You absolutely must comply with the described measures for avoiding these dangers!
ÖThe warning symbols are assigned according to the type of danger.
CAUTION
This notice warns of a situation that is potentially hazardous for people or that may result in material or environ-
mental damage. Ignoring these notices may result in slight, temporary injuries or damage to the product or to the
environment.
►You absolutely must comply with the described measures for avoiding these dangers!
ÖThe warning symbols are assigned according to the type of danger.
NOTICE
General notices contain usage tips and valuable information, but no warnings of dangers to health.
INFORMATION
This category contains useful tips for handling the product e󹱺ciently. Failure to observe these tips will not result
in damage to the product. This information does not include any information relevant to health and workplace
safety.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 seriesINSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series
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Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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2 Safety notices
CAUTION
Risk of injury in the event of improper installation, commissioning or maintenance and improper use.
Non-compliance may result in severe injuries!
The safety instructions for the GEP2000 series can be found in Section 2 of the standardized installation and
operating instructions (DDOC01113).
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 to be used as intended in enclosed rooms for temporary gripping, handling and holding.
The product is not suitable for clamping workpieces during a machining process.
Direct contact with perishable goods/food is not permitted.
4 Personnel qualication
Installation, commissioning and maintenance may only be performed by trained specialists.
These persons must have read and understood the installation and operating instructions in full.
5 Product description
INFORMATION
Information about the product description can be found in the standardized installation and operating
instructions (DDOC01113) or on our website.
Zimmer Customer Service is available to provide you with assistance if you have any further questions.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series
Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
6
EN / 2021-07-08DDOC01113-01 / a
6 Function
INFORMATION
Information about the function can be found in the standardized installation and operating instructions
(DDOC01113) or on our website.
Zimmer Customer Service is available to provide you with assistance if you have any further questions.
7 Installation
INFORMATION
Information about the installation can be found in the standardized installation and operating instructions
(DDOC01113) or on our website.
Zimmer Customer Service is available to provide you with assistance if you have any further questions.
7.1 Installing the power supply
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!
Freely suspended cables must be secured to prevent excessive motion loads or pinching.
►Connect the supply cable to the product and the control system.
• You can nd the compatible power supply cable on our website at www.zimmer-group.com.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 seriesINSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series
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Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
EN / 2021-07-08DDOC01113-01 / a
7.2 Installing the power supply "GEP20xxIO-12-B-01"
7.2.1 Installing the wiring
NOTICE
Non-compliance may result in material damage.
A correct pin assignment must be ensured.
ÖThe product may be ruined and malfunction.
PIN Color Function Explanation
1White Analog output 0 to 10 V output
2- - -
3- - -
4- - -
5Gray + 24 V DC + 24 V DC supply voltage
6Pink Move command Input, control input for inward move
command
7Blue Move command Input, control input for outward move
command
8Red GND 0 V DC supply voltage
The following steps must be carried out for commissioning or installing the "GEP20xxIO-12-B-01" product:
►Connect the product to the voltage supply.
►Secure the voltage supply.
ÖA voltage supply between PIN 5 and PIN 8 is necessary for operation.
ÖA jaw movement is triggered by a voltage level between PIN 7 or PIN 6.
Control logic:
Movement PIN 7 (open) PIN 6 (close)
Product in rest mode 0 0
Open the product 1 0
Close the product 0 1
A movement in the desired direction occurs when the corresponding signal is at a high level. After a high level is detected,
the gripper movement occurs until the gripping process ends.
It is important to ensure that the corresponding signal is reset after successful movement has taken place.
This must happen before a signal is carried out in the opposite direction.
Between withdrawing the signal and the next command, a pause time of 10ms must be adhered to.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series
Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
8
EN / 2021-07-08DDOC01113-01 / a
8 More information
INFORMATION
More information about the product can be found in the standardized installation and operating instructions
(DDOC01113).
• Commissioning
• Operation
• Error diagnosis
• Maintenance
• Accessories/scope of delivery
• Transportation/storage/disposal
• Decommissioning/disposal
• RoHS Declaration/REACH Declaration
9 Declaration of Incorporation/Conformity
INFORMATION
The Declaration of Incorporation and Conformity can be found in the standardized installation and operating
instructions (DDOC01113).
Zimmer Customer Service is available to provide you with assistance if you have any further questions.