Zimmer GEP2000IL-03 User manual

www.zimmer-group.de
INSTALLATION
AND OPERATING
INSTRUCTIONS
GEP2000IL-03
2-jaw parallel gripper
electric
DDOC01219
THE KNOW-HOW FACTORY

Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series
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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 "NULL" 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

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Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series
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Contents
1 Supporting documents......................................................................................................................................................... 5
1.1 Hazard levels of warning notices ...............................................................................................................................................................................5
2 Safety notices ........................................................................................................................................................................ 6
3 Proper use ............................................................................................................................................................................. 6
4 Personnel qualication ......................................................................................................................................................... 7
5 Product description .............................................................................................................................................................. 7
5.1 Possible applications ..................................................................................................................................................................................................7
5.2 Forces and torques .....................................................................................................................................................................................................7
5.3 Type plate.....................................................................................................................................................................................................................7
6 Function ................................................................................................................................................................................. 8
6.1 LED display ..................................................................................................................................................................................................................9
6.2 Electrical specications ..............................................................................................................................................................................................9
6.3 Control..........................................................................................................................................................................................................................9
6.4 Veried conguration examples...............................................................................................................................................................................10
6.5 Self-locking mechanism............................................................................................................................................................................................10
6.6 Protection class .........................................................................................................................................................................................................10
6.7 Technical data............................................................................................................................................................................................................10
7 Installation............................................................................................................................................................................ 11
7.1 General installation information ...............................................................................................................................................................................11
7.2 Installing the product ................................................................................................................................................................................................12
7.3 Installing the power supply.......................................................................................................................................................................................12
7.4 Installing the power supply of GEP2000IL-03.........................................................................................................................................................13
7.4.1 Installing the wiring .....................................................................................................................................................................................13
7.5 Static charge..............................................................................................................................................................................................................13
7.6 Heat dissipation.........................................................................................................................................................................................................13
7.7 Installing accessories................................................................................................................................................................................................13
8 Commissioning ................................................................................................................................................................... 14
8.1 Commissioning the GEP2000IL-03..........................................................................................................................................................................14
8.1.1 Process data................................................................................................................................................................................................14
8.1.2 IODD import.................................................................................................................................................................................................15
8.2 "Handshake" data transfer method..........................................................................................................................................................................15
8.3 Parameters.................................................................................................................................................................................................................16
8.3.1 "ControlWord" parameter ...........................................................................................................................................................................16
8.3.2 "DeviceMode" parameter............................................................................................................................................................................18
8.3.3 "WorkpieceNo" parameter..........................................................................................................................................................................22
8.3.4 "PositionTolerance" parameter...................................................................................................................................................................22
8.3.5 "GripForce" parameter................................................................................................................................................................................23
8.3.6 "DriveVelocity" parameter...........................................................................................................................................................................23
8.3.7 "BasePosition" parameter...........................................................................................................................................................................24
8.3.8 "TeachPosition" parameter .........................................................................................................................................................................24
8.3.9 "WorkPosition" parameter ..........................................................................................................................................................................24
8.3.10 "StatusWord" parameter .............................................................................................................................................................................25
8.3.11 "Diagnosis" parameter ................................................................................................................................................................................26
8.3.12 "ActualPosition" parameter.........................................................................................................................................................................27
8.4 Minimum travel path..................................................................................................................................................................................................28
8.5 Minimum startup path...............................................................................................................................................................................................28
8.6 "Easy Startup"............................................................................................................................................................................................................28
8.6.1 "Easy Startup"..............................................................................................................................................................................................29
8.7 Starting gripping movement.....................................................................................................................................................................................30
8.8 Repeated movement in the same direction ............................................................................................................................................................30

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8.8.1 "Save recipe" ...............................................................................................................................................................................................31
8.9 Recipe examples "Load recipe" ...............................................................................................................................................................................32
9 Operation............................................................................................................................................................................. 33
9.1 "IO-Link" adjustable gripping force ..........................................................................................................................................................................33
9.2 Emergency release....................................................................................................................................................................................................33
10 Error diagnosis .................................................................................................................................................................... 34
10.1 Troubleshooting display............................................................................................................................................................................................34
11 Accessories/scope of delivery........................................................................................................................................... 36
12 Maintenance........................................................................................................................................................................36
13 Transportation/storage/preservation ................................................................................................................................ 36
14 Decommissioning and disposal......................................................................................................................................... 37
15 RoHS declaration................................................................................................................................................................ 38
16 REACH declaration ............................................................................................................................................................. 38
17 Declaration of Incorporation .............................................................................................................................................. 39
18 Declaration of Conformity .................................................................................................................................................. 40

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Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series
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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 Hazard levels of warning notices
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.

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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.
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 supply is disconnected before you mount, adjust, modify, maintain or repair the
product.
►Do not reach into the operational range of the product.
►When the product is used under extreme conditions, the maintenance interval must be adapted depending
on the extent of the contamination.
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 user bears sole respon-
sibility.
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.

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Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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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
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

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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. You can
optimally adjust the gripping force to the workpiece by using the control system via IO-Link.
The product can be controlled via IO-Link.
1Power supply 6Drive
2Emergency release 7Helical worm gear
3Gripper jaws 8Position sensing
4Removable centering sleeve 9Synchronization
5Mounting and positioning

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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
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.

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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.

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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 due to uncontrolled movement
Risk of injury in case of uncontrolled movement of the machine or system into which the product is to be
installed.
►Switch off the power supply of the machine before all 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 movement
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 product before all work.
►Secure the power supply against being switched on unintentionally.
►Check the product for any residual energy that may be present.
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 unevenness: 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.

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7.2 Installing the product
NOTICE
Non-compliance may result in material damage.
The product can be installed with its base or
side on the mounting piece.
The following work steps must be observed
during installation:
►Insert centering sleevesbl into the
designated ts5on the product.
►Position the product on the designated
mounting piece using the centering
sleevesbl.
►Use the mounting screwsbm to 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.
bl
bm
bl
bm
5
5
7.3 Installing the power supply
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!
►Do not fall below this bending radius.
►Secure free-hanging cables to prevent excessive motion loads or pinching.
►Connect the supply cables to the gripper
and the control system.
ÖYou can nd the corresponding supply
cables on our website.

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Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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7.4 Installing the power supply of GEP2000IL-03
7.4.1 Installing the wiring
PIN Color Function Explanation
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.
►Ensure the proper voltage supply.
7.5 Static charge
NOTICE
Material damage in case of non-compliance
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 gripper is mounted on an insulating surface and if discharge is also not possible through the workpiece.
7.6 Heat dissipation
The product must 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.
7.7 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.

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8 Commissioning
8.1 Commissioning the GEP2000IL-03
8.1.1 Process data
The option exists for the gripper to be controlled only by the process data transmitted in each cycle.
Outputs: Process data from the IO-Link master to the gripper!
Name Data type
ControlWord UINT 16
DeviceMode UINT 8
Workpiece No. UINT 8
Reserve UINT 8
PositionTolerance UINT 8
GripForce UINT 8
DriveVelocity UINT 8
BasePosition UINT 16
Reserve UINT 16
TeachPosition UINT 16
WorkPosition UINT 16
Steuerung Produkt
Eingang
Ausgang
Name Data type
StatusWord UINT16
Diagnosis UINT16
ActualPosition UINT16

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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.
8.1.2 IODD import
►Import 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.
8.2 "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 procedure is called "handshake" because it enables "clean" transmission.
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 gripper.
Subsequently, the response of the gripper 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 the "ControlWord" = 0x00 and the corresponding
response from the gripper via the "Statusbit" 12 = FALSE .

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8.3 Parameters
8.3.1 "ControlWord" parameter
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.
Parameters Decimal value Hexadecimal value
Data transfer 1 0x1
WritePDU 2 0x2
ResetDirectionFlag 4 0x4
Teach 8 0x8
MoveToBase 256 0x100
MoveToWork 512 0x200
JogToWork "+" 1024 0x400
JogToBase "-" 2048 0x800
ErrorReset 32768 0x8000
Name "ControlWord"
Data format UINT16
Permission Write
Transfer Cyclical
Value range 0 to 65535
"ControlWord" structure:
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Byte 1 "ErrorReset" - - - "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"

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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 records ("WorkpieceNo" = 1 to 32) as the active data set.
Bit 1: "WritePDU"
Setting this bit tells the product to write the current process data to the selected tool 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!
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 gripper in jog mode and slowly moves toward the "WorkPosition." If the bit is
reset, the gripper stops.
Bit 11: "JogToBase"
Setting this bit in the "ControlWord" puts the gripper in jog mode and slowly moves toward the "BasePosition." If the bit is
reset, the gripper stops.
Bit 15: "ErrorReset"
This bit can be used to acknowledge all errors that can be reset and thus reset them. You can nd out whether an error is
present from the error list.
INFORMATION
For the error list, please refer to the "Error diagnosis" section.

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8.3.2 "DeviceMode" parameter
"DeviceMode" is used to select one of the following travel mode options: universal operation, outside gripping or inside
gripping.
INFORMATION
For operation of the product, Zimmer GmbH recommends "DeviceMode" 63, 73 and 103.
Input Mode Description
63 Outside gripping with
subsequent current feed
Like Mode 60, but with an activated subsequent current feed for a
time of 500 ms when the direction of movement is "Work."
To achieve the best gripping results, the gripped workpiece
should be transported further
during the time of the subsequent current feed.
73 Inside gripping with
subsequent current feed
Like Mode 70, but with an activated subsequent current feed for a
time of 500 ms when the direction of movement is "Base."
To achieve the best gripping results, the gripped workpiece
should be transported further
during the time of the subsequent current feed.
103 Universal operation with
subsequent current feed
Like Mode 100, but with an activated subsequent current feed for
a time of 500 ms in both directions.
To achieve the best gripping results, the gripped workpiece
should be transported further
during the time of the subsequent current feed.
11 Enable jog mode
In Mode 11, the gripper is in jog mode and moves slowly in the
selected direction as long as the respective bit is active in the
ControlWord.
50 Positioning mode
The gripper moves into the "PositionProle" using this mode.
The movement speed is congured using the "DriveVelocity"
parameter.
60 Outside gripping Inward with the desired gripping force and speed, outward at high
speed.
70 Inside gripping Outward with the desired gripping force and speed, inward at high
speed.
100 Universal mode Inside and outside gripping, both movements at the same speed.
Name "DeviceMode"
Data format UINT8
Permission Write
Transfer Cyclical
Value range 11, 50, 60, 63, 70, 73, 100, 103

19
Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series
EN / 2021-03-04DDOC01219 / 0
8.3.2.1 "positionprole" movement prole
This mode can be used for positioning the gripper or for form-t gripping.
DriveVelocity [%]
BasePosition [1/100 mm]0-Point WorkPosition [1/100 mm]
Parameters Description
BasePosition "Open position"
WorkPosition "Closed position"
GripForce Not used
TeachPosition Not used
PositionTolerance Not used
DriveVelocity Movement speed
The movement speed is congured using the "DriveVelocity" parameter.
The "TeachPosition" does not have any signicance in this mode, because the "BasePosition" or "WorkPosition" is always
approached precisely.
The gripper can be moved from the obstacle back to the starting position if the command is switched in the "ControlWord."
No dened gripping forces can be generated in this mode. Friction-locked gripping is not permitted in this mode.

Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
20
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP2000IL-03 series
EN / 2021-03-04DDOC01219 / 0
8.3.2.2 "forceprole" movement prole
This mode can be used for friction-locked gripping.
The gripping force is built up by the movement speed of the jaws and the motor current. When gripping a workpiece, an
independent mechanical locking system in the mechanical system is reached that makes it possible to hold the workpiece
de-energized.
GripForce [%]
BasePosition [1/100 mm]0-Point WorkPosition [1/100 mm]
TeachPosition
PositionTolerance
Parameters Description
BasePosition "Open position"
WorkPosition "Closed position" – behind the workpiece
GripForce Desired gripping force
TeachPosition Expected position of the workpiece
PositionTolerance Permitted tolerance for the workpiece
DriveVelocity Opening speed
Since gripping should occur in one direction only, the positioning mode is used automatically in the opposite direction. To
do this, the gripper switches into positioning mode independently when moving in the opening direction.
The movement prole determines the direction in which the workpiece is gripped:
• For outside gripping, the movement prole group "60" is used.
• For inside gripping, the movement prole group "70" is used.