Zimmer GEP2000 Series User manual

www.zimmer-group.de
INSTALLATION
AND OPERATING
INSTRUCTIONS
GEP2000 series
2-jaw parallel gripper
electric
DDOC01113
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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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 series
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Contents
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 Function ................................................................................................................................................................................. 9
6.1 LED display ................................................................................................................................................................................................................10
6.2 Electrical specications ............................................................................................................................................................................................11
6.3 Control........................................................................................................................................................................................................................11
6.4 Veried conguration examples...............................................................................................................................................................................11
6.5 Self-locking mechanism............................................................................................................................................................................................11
6.6 Protection class .........................................................................................................................................................................................................11
6.7 Technical data............................................................................................................................................................................................................11
7 Installation............................................................................................................................................................................ 12
7.1 General installation information ...............................................................................................................................................................................12
7.2 Installing the mechanical system .............................................................................................................................................................................13
7.3 Installing the power supply.......................................................................................................................................................................................14
7.4 Installing the power supply of GEP2000IL-00.........................................................................................................................................................14
7.4.1 Installing the wiring .....................................................................................................................................................................................14
7.5 Installing the power supply of GEP2000IO-05 ........................................................................................................................................................15
7.5.1 Installing the wiring .....................................................................................................................................................................................15
7.6 Installing the power supply of GEP2000IO-00 ........................................................................................................................................................16
7.6.1 Installing the wiring .....................................................................................................................................................................................16
7.7 Static charge..............................................................................................................................................................................................................16
7.8 Heat dissipation.........................................................................................................................................................................................................16
7.9 Installing accessories................................................................................................................................................................................................16
8 Commissioning ................................................................................................................................................................... 17
8.1 Commissioning the GEP2000IO-05 and GEP2000IO-00 .......................................................................................................................................17
8.1.1 Restarting the GEP2000IO-05 and GEP2000IO-00 ..................................................................................................................................17
8.1.2 Switching sequence of GEP2000IO-05 and GEP2000IO-00 ...................................................................................................................17
8.1.3 Switching sequence of GEP2000IO-05 and GEP2000IO-00 for teaching-in the end position..............................................................18
8.2 Commissioning the GEP2000IL-00..........................................................................................................................................................................19
8.2.1 Process data................................................................................................................................................................................................19
8.2.2 IODD import.................................................................................................................................................................................................20
8.3 “Handshake” data transfer method .........................................................................................................................................................................20
8.4 Parameters.................................................................................................................................................................................................................21
8.4.1 “ControlWord” parameter...........................................................................................................................................................................21
8.4.2 “DeviceMode” parameter...........................................................................................................................................................................23
8.4.3 “WorkpieceNo” parameter.........................................................................................................................................................................25
8.4.4 “PositionTolerance” parameter ..................................................................................................................................................................25
8.4.5 “GripForce” parameter ...............................................................................................................................................................................26
8.4.6 “TeachPosition” parameter ........................................................................................................................................................................26
8.4.7 “StatusWord” parameter ............................................................................................................................................................................27
8.4.8 “Diagnosis” parameter ...............................................................................................................................................................................28
8.4.9 “ActualPosition” parameter ........................................................................................................................................................................28
8.5 “Cold start” ................................................................................................................................................................................................................29

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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8.6 Minimum travel path..................................................................................................................................................................................................29
8.7 “Easy Startup” ...........................................................................................................................................................................................................29
8.7.1 “Easy Startup” GEP2000IL series..............................................................................................................................................................30
8.8 Starting gripping movement.....................................................................................................................................................................................31
8.9 Repeated movement in the same direction ............................................................................................................................................................31
8.9.1 “Save recipe”...............................................................................................................................................................................................32
8.10 Recipe examples “Load recipe” ..............................................................................................................................................................................33
9 Operation............................................................................................................................................................................. 34
9.1 Adjustable gripping force of GEP2000IO-05 and GEP2000IO-00.........................................................................................................................34
9.2 Emergency release of GEP2000IO-05 and GEP2000IO-00 ...................................................................................................................................34
9.3 Adjustable gripping force of GEP2000IL-00 ...........................................................................................................................................................34
9.4 Emergency release of GEP2000IL-00......................................................................................................................................................................34
10 Gripping force charts.......................................................................................................................................................... 35
11 Error diagnosis .................................................................................................................................................................... 36
11.1 Troubleshooting display............................................................................................................................................................................................36
11.2 LED status display for errors of GEP2000IO-00......................................................................................................................................................38
11.3 LED status display for errors of GEP2000IO-05 + GEP2000IO-00 ........................................................................................................................38
12 Maintenance........................................................................................................................................................................ 39
13 Accessories/scope of delivery........................................................................................................................................... 39
14 Transportation/storage/preservation ................................................................................................................................ 39
15 Decommissioning/disposal ............................................................................................................................................... 39
16 RoHS declaration................................................................................................................................................................ 40
17 REACH declaration ............................................................................................................................................................. 40
18 Declaration of Incorporation .............................................................................................................................................. 41
19 Declaration of Conformity .................................................................................................................................................. 42

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series
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1 Supporting documents
NOTICE
Read through the installation and operating instructions carefully before installing the product!
The installation and operating instructions contain important notices 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 documents listed below are available for download on our website www.zimmer-group.com
. Only those documents currently available on the website are valid.
• Installation and operating instructions
• Catalogs, drawings, CAD data, performance data
• Information on accessories
• Technical data sheets
• General Terms and Conditions of Business with specications for the warranty entitlement
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 will not lead to 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 series
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!
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 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.
Installation, commissioning, maintenance and repairs may only be performed by qualied specialists in
accordance with these installation and operating instructions.
►Make sure that the power cables are disconnected before you install, retool, maintain or repair the product.
►When the product is used under extreme conditions, the maintenance interval must be adapted depending
on the extent of the contamination.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series
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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 more extensive use is 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 qualied personnel.
These persons must have read and understood the installation and operating instructions in full.

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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5 Product description
CAUTION
Reduction of gripping force
When exible components are gripped, the gripping force of the product is reduced.
A 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
To ensure that the gripper jaws do not get deformed, make sure 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.
5.1 Possible applications
outside gripping
The product can be used for outside gripping.
inside gripping
The product can be used for inside gripping.
5.2 Forces and torques
INFORMATION
For information on the forces and torques for the following product, please refer to our website at www.
zimmer-group.com:
• GEP2000 series (Technical Data Sheet)
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.
The part number am and the serial number an are shown on the type
plate.
XXX
XX-XXXXXX
am
an

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series
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6 Function
The gripper jaws of the product are arranged parallel to each other on two opposing guide rails and can be moved relative
to each other. The force of the motor is transmitted over a worm drive. Racks and a pinion 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
gripping force can be adjusted optimally to match the workpiece by using the rotary switch (GEP2000IO-00/-05) or the
control system via IO-Link (GEP2000IL-00).
The product can be controlled like a valve via I/O-ports or via IO-Link.
Both versions are easy to integrate into the control system.
1Power supply
2Emergency release
3Gripper jaws
4Removable centering sleeve
5Mounting and positioning
6Drive
7Helical worm gear
8Position sensing
9Synchronization
bl Adjustable gripping force (GEP2000IO-00/
GEP2000IO-05)
bl

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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6.1 LED display
cl Power/communication
cm Error
cl
cm

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series
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6.2 Electrical specications
INFORMATION
For electrical specications, please refer to our website at www.zimmer-group.com.
This data varies within the series, depending on the specic design.
Please contact Zimmer Customer Service if you have any questions.
6.3 Control
INFORMATION
For information on the control, please refer to our website at www.zimmer-group.com.
Please contact Zimmer Customer Service if you have any questions.
6.4 Veried conguration examples
INFORMATION
For information on veried conguration examples, please refer to our website at
www.zimmer-group.com.
• GEP2000 series (Technical Data Sheet)
Please contact Zimmer Customer Service if you have any questions.
6.5 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).
Please contact Zimmer Customer Service if you have any questions.
6.6 Protection class
NOTICE
The product achieves protection class IP40 in all mounted positions of installation.
6.7 Technical data
INFORMATION
For technical data, please visit our website.
This data varies within the series, depending on the specic design.
Please contact Zimmer Customer Service if you have any 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
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7 Installation
7.1 General installation information
WARNING
Risk of injury in case of unexpected movement of the machine or system into which the product 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.
CAUTION
Risk of injury in the event of unexpected movement of the product when the power supply is connected.
►Switch off the power supply to the product before all work.
►Secure the power supply against being switched on unintentionally.
►Check the product for any residual energy.
NOTICE
Switch off the power supply before any assembly, installation or maintenance work.
The product must be installed on a suitable mounting surface in accordance with the atness specications.
ÖPermissible atness imperfection: 0.03
• The mounting screws are not included in the scope of delivery.
• Strength class of the mounting screws: ≥ 8.8 (DIN EN ISO 4762)
• Observe the tightening torque of the mounting screws.
ÖZimmer GmbH recommends verifying the permitted load-carrying capacity of the required screw connections in
accordance with VDI 2230.
• The exact installation positions can be found on the technical data sheet on our website.

INSTALLATION 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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7.2 Installing the mechanical system
NOTICE
Non-compliance may result in material damage.
The product can be installed with its base or
laterally onto the mounting piece.
The following work steps must be observed during
installation:
►Insert centering sleevesbminto the designated
ts5on the product.
►Position the product on the designated mounting
piece using the centering sleevesbm.
►Use the mounting screwsbnto secure the
product onto the mounting piece.
ÖUse an adapter plate as needed. For information
on adapter plates, please refer to the
accessories list, available on our website.
5
bm
bn
bn
bm
5

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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7.3 Installing the power supply
Observe the following work steps:
►Connect the power supply cable.
ÖYou can nd the corresponding supply cable on
our website.
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.
7.4 Installing the power supply of GEP2000IL-00
7.4.1 Installing the wiring
PIN Color Function Explanation
3
21
45
1 Brown + 24 V DC sensor IO-Link communication supply
2 White + 24 V DC
actuator Actuator supply voltage
3 Blue GND sensor 0 V DC sensor supply voltage
4 Black C/Q IO-Link communication
5Gray GND actuator 0 V DC actuator supply voltage
The following steps must be carried out for commissioning or installing the product with IO-Link:
►Connect the product to the IO-Link master.
►Secure the voltage supply.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series
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7.5 Installing the power supply of GEP2000IO-05
7.5.1 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
3
4 2
1
5
1 Brown + 24 V DC + 24 V DC supply voltage
2 White Move command Input, control input, outer move command
3 Blue GND 0 V DC supply voltage
4 Black Move command Input, control input, inner move command
5Gray Analog output 0 to 10 V output
The following steps must be carried out for commissioning or installing the “GEP2000IO-05” product:
►Connect the product to the voltage supply.
►Secure the voltage supply.
ÖA voltage supply between PIN 1 and PIN 3 is necessary for operation.
ÖA jaw movement is triggered by a voltage level between PIN 2 or PIN 4.
Control logic:
Movement PIN 2 (open) PIN 4 (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
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7.6 Installing the power supply of GEP2000IO-00
7.6.1 Installing the wiring
PIN Color Function Explanation
1
2
3
4
1 Brown + 24 V DC + 24 V DC supply voltage
2 White Move command Input, control input, outer move command
3 Blue GND 0 V DC supply voltage
4 Black Move command Input, control input, inner move command
The following steps must be carried out for commissioning or installing the “GEP2000IO-00” product:
►Connect the product to the voltage supply.
►Secure the voltage supply.
ÖA voltage supply between PIN 1 and PIN 3 is necessary for operation.
ÖA jaw movement is triggered by a voltage level between PIN 2 or PIN 4.
Control logic:
Movement PIN 2 (open) PIN 4 (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.
7.7 Static charge
NOTICE
Non-compliance may result in material damage.
Grounding the product mount / gripper jaws 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.
7.8 Heat dissipation
The product must always be mounted on materials that dissipate heat.
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.
ÖThe cycle time must therefore be reduced as the temperature increases.
7.9 Installing accessories
NOTICE
Before installing an accessory, make sure it is suitable for use with the selected variant.
Please contact Zimmer Customer Service if you have any questions.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series
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8 Commissioning
8.1 Commissioning the GEP2000IO-05 and GEP2000IO-00
8.1.1 Restarting the GEP2000IO-05 and GEP2000IO-00
INFORMATION
When the product is restarted, there should not be any signal present on the PINS "DIR1" and "DIR2."
Requirement for a cold start:
"DIR1" and "DIR2" = 0 V
Once the green LED on the product lights up, the product is ready for operation.
The product can be moved only a few milliseconds after power is supplied.
8.1.2 Switching sequence of GEP2000IO-05 and GEP2000IO-00
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, after a gripper movement has taken place, the corresponding signal is reset again before a
signal in the opposite direction is given.
Between withdrawing the signal and the next command, a pause time of 10ms must be adhered to.
NOTICE
In order to prevent damage to the product, the resistance between the analog output and GND must be at least
10 kΩ.
INFORMATION
ÖThe switching sequence only applies to the digital versions of the GEP2000 series.
• GEP2000IO-00
• GEP2000IO-05
The current jaw position is scaled from 0 V to 10 V and is issued via PIN 5 (analog output).
BasePosition
WorkPosition
► ◄ ≥ 10 ms ► ◄ ≥ 10 ms ► ◄ ≥ 10 ms
0
1
0
1
"Open" signal
"Close" signal
BasePosition
WorkPosition

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000 series
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8.1.3 Switching sequence of GEP2000IO-05 and GEP2000IO-00 for teaching-in the end position
“Adjust” movement of GEP2000IO-05 and GEP2000IO-00
This function is used to teach in the end positions of the product (GEP2000IO-05 and GEP2000IO-00) again.
• After a restart, both DIR signals must be “high” for 5 seconds.
• The product then opens and closes several times and stays open again.
ÖThe factory default settings are “BasePosition” and “WorkPosition.”
ÖThe product (GEP2000IO-05 and GEP2000IO-00) is always equipped with a subsequent current feed (e.g. mode = 103)
ÖTeaching in the end position again prevents the product from being unnecessarily energized when it is in the end
position.
• If there is a mechanically limited end position, the end position can be taught-in again.
BasePosition
WorkPosition
0
1
0
1
"Open" signal
"Close" signal
◄ 5 sec ► ◄ Cold start ►

INSTALLATION 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 / 2020-11-25DDOC01113 / -
8.2 Commissioning the GEP2000IL-00
8.2.1 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
Workpiece No. UINT8
TeachPosition UINT16
GripForce UINT8
PositionTolerance UINT8
Control
system
Product
Input
Output
Name Data type
StatusWord UINT16
Diagnosis UINT16
ActualPosition UINT16
When the hardware conguration is complete and the IO-Link connection to the product 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 status byte.
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 byte swap still has to be applied here.
ÖFor further information, refer to the “StatusWord” section.

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
20
EN / 2020-11-25DDOC01113 / -
8.2.2 IODD import
►Importing the IODD (device description) into the control system.
ÖGo to our website.
ÖSelect the desired product and download the corresponding .zip le via “Download IODD Link.”
ÖThe .zip le is required for importing into the control system.
INFORMATION
It is mandatory to verify the process data!
The product is controlled via IO-Link by means of the cyclical process data as well as the acyclical service data with a cycle
time of 5 ms.
8.3 “Handshake” data transfer method
All process data that is transferred to the product and is described in the sections that follow must be transferred using the
“Handshake.”
INFORMATION
This method is referred to as a "handshake" because it enables "clean" transfer.
The transfer of the process data to the product takes place through what is called "hand to hand" control.
The following steps are required for the “Handshake”:
The data transfer starts with the transfer of “ControlWord” = 0x01 to the product.
After that, the response of the product must be tested by means of “Statusbit” 12 = TRUE (data transfer OK).
Following this, the “ControlWord” = 0 can be sent, which ends the data transfer.
The operator automatically concludes the data transfer with “ControlWord” = 0x00 and the corresponding response
from the product via “Statusbit” 12 = FALSE .