Zimmer GEP2000IO-45 User manual

INSTALLATION AND
OPERATING
INSTRUCTIONS
2-jaw parallel grippers electric
GEP2000IO-00
GEP2000IO-05
GEP2000IO-45
GEP2000IL-00
DDOC01113
THE KNOW-HOW FACTORY
www.zimmer-group.com

2
Parameter explanation (glossary)
Parameter Explanation
ActualPosition Value of the current position of the product [1/100mm]
BasePosition Outer jaw position
Depending on the application, this can be the base position or the work position.
ControlWord Activation of the product
Only one bit is permitted to be active in the word. The value "0" is also permitted.
DeviceMode Used to select gripping proles as well as the additional help modes in the product.
Diagnosis If an error occurs, outputs a diagnostic code that can be compared with the error list.
DIR Direction/24V cable connection - Depending on the product, this signal is used to move the
product.
Error Fault
GND Abbreviation for ground connection
GripForce Setting the gripping force
Offset Correction value
PositionTolerance Tolerance range for TeachPosition, BasePosition and WorkPosition
The value of the parameter acts in both directions.
ShiftPosition ShiftPosition is a switching position between pre-positioning and gripper movement.
StatusWord In its bits, returns the most important information about the status of the product to the control
system.
Teach/Adjust Programming/Adjusting
With this signal, depending on the gripper type, the current position of the gripper jaws can be
taught in as the new workpiece position.
Adjust is used to dene the reachable end positions of the gripper jaws.
TeachPosition Actual workpiece position
Traversing routine Dened procedure for movement of the gripper jaws
Travel path Path on which the gripper jaws travel.
WorkpieceNo Selection of the workpiece recipes stored in the product
WorkPosition Inner jaw position
Depending on the application, this can be the end position or the work position.
Workpiece loss
detection
Function which, in case of workpiece loss, causes the product to move to the end position.
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16

3
1 Supporting documents ............................................................................................................................................................... 5
1.1 Notices and graphics in the installation and operating instructions ...............................................................................................................................5
2 Safety notices............................................................................................................................................................................... 6
3 Proper use .................................................................................................................................................................................... 7
4 Personnel qualication................................................................................................................................................................ 7
5 Product description ..................................................................................................................................................................... 8
5.1 Possible applications...........................................................................................................................................................................................................8
5.2 Forces and torques..............................................................................................................................................................................................................8
5.3 Type plate .............................................................................................................................................................................................................................8
6 Functional description ................................................................................................................................................................. 9
6.1 LED status display .............................................................................................................................................................................................................10
6.2 Control ................................................................................................................................................................................................................................10
6.3 Veried conguration examples .......................................................................................................................................................................................10
6.4 Self-locking mechanism ....................................................................................................................................................................................................10
7 Technical data ............................................................................................................................................................................ 11
8 Accessories/scope of delivery ................................................................................................................................................. 11
9 Transportation/storage/preservation....................................................................................................................................... 11
10 Installation .................................................................................................................................................................................. 12
10.1 Installing the product.........................................................................................................................................................................................................13
10.2 Safe shutoff for products with IO-Link..............................................................................................................................................................................14
10.3 Installing the energy supply ..............................................................................................................................................................................................15
10.4 Pin assignment GEP2000IO-05/GEP2000IO-45 .............................................................................................................................................................15
10.5 Pin assignment GEP2000IO-00 ........................................................................................................................................................................................16
10.6 Pin assignment GEP2000IL-00 .........................................................................................................................................................................................16
10.7 Static charge ......................................................................................................................................................................................................................17
10.8 Heat dissipation .................................................................................................................................................................................................................17
10.9 Installing accessories ........................................................................................................................................................................................................17
11 Commissioning for GEP2000IO-00/GEP2000IO-05/GEP2000IO-45..................................................................................... 18
11.1 Restart ................................................................................................................................................................................................................................18
11.2 Switching sequence ..........................................................................................................................................................................................................18
11.2.1 Current supply prole of gripping process........................................................................................................................................................19
11.3 Switching sequence for teaching in the end position.....................................................................................................................................................19
11.4 Minimum travel path..........................................................................................................................................................................................................19
12 Commissioning the GEP2000IL-00 .......................................................................................................................................... 20
12.1 Process data .....................................................................................................................................................................................................................20
12.2 IODD Import .......................................................................................................................................................................................................................21
12.3 Handshake Data Transfer Method....................................................................................................................................................................................21
12.4 Parameters .........................................................................................................................................................................................................................22
12.4.1 ControlWord.........................................................................................................................................................................................................22
12.4.2 DeviceMode .........................................................................................................................................................................................................24
12.4.3 WorkpieceNo .......................................................................................................................................................................................................26
12.4.4 PositionTolerance ................................................................................................................................................................................................26
12.4.5 GripForce .............................................................................................................................................................................................................27
12.4.6 TeachPosition.......................................................................................................................................................................................................27
12.4.7 StatusWord...........................................................................................................................................................................................................28
12.4.8 Diagnosis..............................................................................................................................................................................................................29
12.4.9 ActualPosition ......................................................................................................................................................................................................29
12.5 Cold start ............................................................................................................................................................................................................................30
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com
Content

4
12.6 Minimum travel path..........................................................................................................................................................................................................30
12.7 Easy Startup .......................................................................................................................................................................................................................30
12.8 Quickstart Basic Parameters ............................................................................................................................................................................................31
12.9 Starting the gripping movement.......................................................................................................................................................................................32
12.10 Repeated movements in the same direction...................................................................................................................................................................32
12.11 Recipe examples ...............................................................................................................................................................................................................33
12.11.1 Save recipe...........................................................................................................................................................................................................33
12.11.2 Loading a recipe..................................................................................................................................................................................................34
13 Operation....................................................................................................................................................................................35
13.1 Setting the gripping force GEP2000IO ............................................................................................................................................................................35
13.2 Emergency release of GEP2000IO...................................................................................................................................................................................36
13.3 Setting the gripping force GEP2000IL-00........................................................................................................................................................................37
13.4 Emergency release of GEP2000IL-00 ..............................................................................................................................................................................37
14 Gripping force charts................................................................................................................................................................. 37
15 Error diagnosis...........................................................................................................................................................................38
15.1 Status in LED display for error GEP2000IO .....................................................................................................................................................................40
15.2 Status in LED display for error GEP2000IL-00................................................................................................................................................................40
16 Table with acyclic data (ISDU) .................................................................................................................................................. 41
17 Maintenance............................................................................................................................................................................... 43
18 Decommissioning/disposal ...................................................................................................................................................... 43
19 RoHS declaration....................................................................................................................................................................... 44
20 REACH declaration.................................................................................................................................................................... 44
21 Declaration of Incorporation ..................................................................................................................................................... 45
22 Declaration of Conformity ......................................................................................................................................................... 46
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16

5
1 Supporting documents
NOTICE
Read through the installation and operating instructions before installing or working with the product.
The installation and operating instructions contain important notes for your personal safety. They must be read
and understood by all persons who work with or handle the product during any phase of the product lifetime.
The documents listed below are available for download on our website www.zimmer-group.com.
• Installation and operating instructions
• Catalogs, drawings, CAD data, performance data
• Information on accessories
• Technical data sheets
• General Terms and Conditions, including warranty information.
ÖOnly those documents currently available on the website are valid.
In these installation and operating instructions, "product" refers to the product designation on the title page!
1.1 Notices and graphics in the installation and operating instructions
DANGER
This notice warns of an imminent danger to the life and health of people. Ignoring these notices can lead to
serious injury or even death.
►You absolutely must comply with the described measures for avoiding these dangers!
ÖThe warning symbols are assigned according to the type of danger.
WARNING
This notice warns of a situation that is potentially hazardous to personal health. Ignoring these notices can cause
serious injury or damage to health.
►You absolutely must comply with the described measures for avoiding these dangers!
ÖThe warning symbols are assigned according to the type of danger.
CAUTION
This notice warns of a situation that is potentially hazardous for people or that may result in material or environ-
mental damage. Ignoring these notices may result in slight, temporary injuries or damage to the product or to the
environment.
►You absolutely must comply with the described measures for avoiding these dangers!
ÖThe warning symbols are assigned according to the type of danger.
NOTICE
General notices contain usage tips and valuable information, but no warnings of dangers to health.
INFORMATION
This category contains useful tips for handling the product e󹱺ciently. Failure to observe these tips will not result
in damage to the product. This information does not include any information relevant to health or workplace
safety.
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

6
2 Safety notices
CAUTION
Risk of injury and material damage in case of non-compliance
Installation, commissioning, maintenance and repairs may only be performed by qualied specialists in
accordance with these installation and operating instructions.
The product is state-of-the-art.
It is tted to industrial machines and is used to hold, transport and store workpieces.
The following are examples of situations in which the product may cause a hazard:
• The product is not properly installed, used or maintained.
• The product is not used for its designated purpose.
• The locally applicable regulations, laws, directives or guidelines are not observed.
►The product may only be used in accordance with these installation and operating instructions and the
product's technical data. Any changes or additions to the intended use of the product, as well as modications
to the product, such as those in the following examples, require the written permission of the manufacturer:
• Use of the product under extreme conditions, such as aggressive uids or abrasive dusts
• Additional drilled holes or threads
ÖZimmer GmbH shall accept no liability for any damage caused by improper use. The operator bears sole
responsibility.
►Make sure that the power supply is disconnected before you mount, adjust, modify, maintain or repair the
product.
►Whenever work is carried out on the product, make sure that the product cannot be actuated by mistake.
►Perform maintenance tasks, renovation work or attachment work outside of the machine's danger zone when
possible.
►Do not reach into the operational range of the product.
►Observe the specied maintenance intervals and specications regarding the quality of the operating material.
►When using the product under extreme conditions, adjust the maintenance interval according to the degree of
contamination.
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16

7
3 Proper use
NOTICE
The product is only to be used in its original state with its original accessories, with no unauthorized changes and
within the stipulated parameter limits and operating conditions.
Any other or secondary use is deemed improper.
►Operate the product only in compliance with the associated installation and operating instructions.
►Operate the product only when it is in a technical condition that corresponds to the guaranteed parameters
and operating conditions.
ÖZimmer GmbH shall accept no liability for any damage caused by improper use. The operator bears sole
responsibility.
The product is designed exclusively for electric operation using a 24V DC power supply.
The product must always be mounted on materials that dissipate heat.
The product is intended for industrial use.
The product is to be used as intended in enclosed rooms for temporary gripping, handling and holding.
The product is not suitable for clamping workpieces during a machining process.
Direct contact with perishable goods/food is not permitted.
Observance of the technical data and of the installation and operating instructions are part of proper use.
4 Personnel qualication
Installation, commissioning and maintenance may only be performed by trained specialists. These persons must have read
and understood the installation and operating instructions in full.
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

8
5 Product description
CAUTION
Reduction of the gripping force can cause personal injury and material damage
When exible components are gripped, the gripping force of the product is reduced.
Reduced gripping force can lead to personal injury or material damage, because the components that are being
gripped can no longer be securely gripped and transported.
NOTICE
►Make sure that the setting of the gripping force and the selection of the gripper nger length are correct to
prevent incorrect bracing of the gripper jaws.
ÖAn incorrect conguration or selection can lead to malfunction
5.1 Possible applications
Outside gripping Inside gripping
The product can be used for outside gripping. The product can be used for inside gripping.
MoveToWork command MoveToBase command
5.2 Forces and torques
INFORMATION
►You can nd the information in the technical data sheet on our website.
►Please contact Zimmer Customer Service if you have any questions.
5.3 Type plate
A type plate is attached to the housing of the product.
XXX
XX-XXXXXX
am
an
The article number and conrmation number are shown on the type
plate.
am Article number
an Conrmation number
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16

9
6 Functional description
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 by a worm drive. A pinion and a rack generate the movement of the gripper jaws and
synchronize these movements.
Despite its small installation space, the product is suited for gripping a wide range of form-t and frictional t parts.
The product can be controlled like a valve via I/O ports or via IO-Link.
1Power supply
2Emergency release
3Gripper jaw
1
2
3
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

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6.1 LED status display
4Power/communication
5Error
4
5
6.2 Control
INFORMATION
►You can nd the information in the technical data sheet on our website.
►Please contact Zimmer Customer Service if you have any questions.
6.3 Veried conguration examples
INFORMATION
►You can nd the information in the technical data sheet on our website.
►Please contact Zimmer Customer Service if you have any questions.
6.4 Self-locking mechanism
INFORMATION
The product has a mechanical self-locking mechanism to ensure that the workpiece remains held by the product
in the event of power supply loss or failure (e.g. an emergency stop).
►Please contact Zimmer Customer Service if you have any questions.
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16

11
7 Technical data
INFORMATION
►You can nd the information in the technical data sheet on our website.
This data varies within the series, depending on the specic design.
►Please contact Zimmer Customer Service if you have any questions.
8 Accessories/scope of delivery
INFORMATION
If any accessories not sold or authorized by Zimmer GmbH are used, the function of the product cannot be
guaranteed. Zimmer GmbH accessories are specically tailored to the individual products.
►For optional accessories and those included in the scope of delivery, refer to our website.
9 Transportation/storage/preservation
►Transport and storage of the product must be done only with the original packaging.
►If the product has already been installed on the superordinate machine unit, care must be taken during transport to
ensure that no unexpected movements can occur.
►Before commissioning the product and after transport, check all power and communication connections as well as
all mechanical connections.
►If the product is stored for an extended period, the following points are to be observed:
►Keep the storage location as dust-free and dry as possible.
►Avoid temperature uctuations/observe and adhere to the temperature range.
►Avoid wind/drafts/water condensation formation.
►Cover the product with a weatherproof, tear-resistant foil to prevent dust.
►Pack the product and do not expose it to direct sunlight during storage.
►Clean all components. There must be no soiling left on the components.
►Visually inspect all components.
►Remove all foreign substances.
►Properly remove potential corrosion spots.
►Close electrical connections using suitable covers.
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

12
10 Installation
WARNING
Risk of injury due to uncontrolled movements
Risk of injury in case of unexpected movement of the machine or system into which the product is to be installed.
►Switch off the energy supply of the machine before any work.
►Secure the power supply against being switched on unintentionally.
►Check the machine for any residual energy that may be present.
CAUTION
Risk of injury due to uncontrolled movements
Risk of injury in the event of uncontrolled movement of the product when the power supply is connected.
►Switch off the power supply to the machine before carrying out any work.
►Secure the power supply against being switched on unintentionally.
►Check the machine for any residual energy that may be present.
NOTICE
►Installation may only be carried out by qualied personnel in accordance with these installation and operating
instructions.
►Switch off the power supply before any assembly, installation or maintenance work.
INFORMATION
Requirements for the mounting surface:
• Permissible unevenness [mm]: 0.03
• Cleanliness of the mounting surfaces of the product and mounting piece (product grounding)
Further installation information:
• The mounting screws are not included in the scope of delivery.
• Strength class of the mounting screws is at least 8.8 (DIN EN ISO 4762)
►Make sure that the mounting piece is su󹱺ciently rigid.
►Observe the tightening torque of the mounting screws.
►Verify the permitted load capacity of the required screw connections in accordance with VDI 2230.
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16

13
10.1 Installing the product
The product can be installed from multiple
sides.
6
7
►Insert the centering sleeves into the
provided ts on the product.
►Position the product on the mounting piece
using centering sleeves.
►Mount the product on the mounting piece
using the appropriate mounting screws.
6Mounting screw
7Centering Disc
INFORMATION
►Use an adapter plate if necessary.
►For information on optional accessories and those included in the scope of delivery, refer to our website.
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

14
10.2 Safe shutoff for products with IO-Link
INFORMATION
For safe shutoff for IO-Link products, two contactors are switched in series with one auxiliary contact each. Here,
the auxiliary contacts monitor the status of the contactors. If one contactor does not switch, the second contactor
ensures safety. The malfunction can still be detected using the contacts.
The following gure shows the example of a circuit through which the IO-Link master cannot conduct the load current of the
product.
.
PE
..
1
..
2
..
3
..
4
.
+24V_UA
GND_UA
+24V_US
GND_US
GND V1
V1 (+)
GND V2
V2 (+)
br
W1
M12 5pol 5m
ws
bl
sw
gr
1
2
3
4
5
1
Bosch_Timo_Plan.0007_images\image0.jpgBosch_Timo_Plan.0007_images\image1.jpg Bosch_Timo_Plan.0007_images\image2.jpg
1
2
3
4
3
4
Q1
12
3
4
5
6
12
3
4
5
6
Q2
12
3
4
5
6
12
3
4
5
6
Rk_1
Rk_2
Bosch_Timo_Plan.0007_images\image3.jpg
X01
V1 (+)
1
V2 (+)
2
GND V1
3
GND V2
4
V1 (+)
1
V2 (+)
2
GND V1
3
GND V2
4
V2 +
1
DXP
2
GND V2
3
C/Q
4
n.c.
5
BR WS BL SW
Power
IN
2122 21222122 2122
K1
S24V
1
P24V
2
SGND
3
C/Q
4
PGND
5
Up
GND Up
Us
GND Us
PE
Up
GND Up
Us
GND Us
PE
F1
2 1
F2
2 1
S1
S2
1
3
4
1
2
3
4
5
1
3
4
1
1
1
23
3
3
4
4
45
1.
2.
3.
IO-Link master with port class A
Feedback circuit
Q1 & Q2 IO-Link gripper
Y-cable
Power supply for IO-Link
Auxiliary contact Q1 & Q2
Fieldbus
IN
Fieldbus
OUT
Fieldbus
IN
Fieldbus
OUT
Voltage OUT
Voltage IN
NOTICE
Without an externally fed voltage supply,the motor of the product cannot carry out an active movement and thus
cannot carry out a hazardous movement.
There is no galvanic isolation between the two voltage supplies (signal and power). There is a low-voltage
connection via ground (GND).
Because of the self-locking mechanism, the product remains in the last approached position, even if no voltage is
supplied.
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16

15
10.3 Installing the energy 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!
►Freely suspended cables must be secured to prevent excessive motion loads or pinching.
►The contacts of the energy supply must be dry, clean and undamaged at all times.
ÖDamage to the contacts can result in malfunction of the product.
CAUTION
Non-compliance may result in material damage.
Incorrect pin assignment can lead to malfunction or destruction of the product.
►Be absolutely certain to ensure correct pin assignment.
►Connect the power supply cable to the
control system of the product.
10.4 Pin assignment GEP2000IO-05/GEP2000IO-45
pin Color Function Explanation
1
2 4
3
5
M8 5-pin plug
1Brown + 24 V DC + 24 V DC supply voltage
2White MoveToBase
command
Digital input 24 V voltage level
3Blue GND 0 V DC supply voltage
4Black MoveToWork
command
Digital input 24 V voltage level
5Gray Analog output 0 to 10 V DC output
►Connect the product to the voltage supply.
►Ensure the proper voltage supply.
• A 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.
NOTICE
In order to prevent damage to the product, the resistance between the analog output and GND must be at least
10 kΩ.
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

16
10.5 Pin assignment GEP2000IO-00
pin Color Function Explanation
1
2
3
4
M8 4-pin plug
1Brown + 24 V DC + 24 V DC supply voltage
2White MoveToBase
command
Digital input 24 V voltage level
3Blue GND 0 V DC supply voltage
4Black MoveToWork
command
Digital input 24 V voltage level
►Connect the product to the voltage supply.
►Ensure the proper voltage supply.
• A 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.
10.6 Pin assignment GEP2000IL-00
pin Color Function Explanation
3
21
45
M12 5-pin plug
1Brown + 24 V DC sensor IO-Link communication supply
2White + 24 V DC actuator Actuator supply voltage
3Blue GND sensor 0 V DC sensor supply voltage
4Black C/Q IO-Link communication
5Gray GND actuator 0 V DC actuator supply voltage
►Connect the product to the IO-Link master.
►Ensure the proper voltage supply.
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

17
10.7 Static charge
CAUTION
Material damage from static charge
Material damage can result from contact of ESD-sensitive parts with the product.
►It is mandatory to ground the gripper ngers.
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.
10.8 Heat dissipation
In the event of high ambient temperatures, the product must be installed on heat-dissipating materials.
If the product is operated under very high ambient temperatures and with fast clock cycles on an ongoing basis, this might
reduce its service life.
INFORMATION
►The cycle time must therefore be reduced as the temperature increases.
10.9 Installing accessories
NOTICE
►Before installing an accessory, make sure it is suitable for use with the selected variant.
►You can nd information on our website.
►Please contact Zimmer Customer Service if you have any questions.
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

18
11 Commissioning for GEP2000IO-00/GEP2000IO-05/GEP2000IO-45
11.1 Restart
NOTICE
►Make sure that there is no signal present at the open and close pins when the product is restarted.
ÖThe product is ready to operate when the green LED lights up.
ÖThe product can be moved a few milliseconds after voltage is supplied.
11.2 Switching sequence
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.
►Reset the corresponding signal after the movement is complete. The signal must be reset before a signal is emitted in
the opposite direction.
►Observe a break time of 10 ms between the reset of the signal and the next command.
INFORMATION
The switching sequence only applies to the digital versions of the GEP2000 series.
• GEP2000IO-00
• GEP2000IO-05
• GEP2000IO-45
The current jaw position is scaled from 0 V to 10 V and is issued via PIN 5 (analog output).
24 V
0 V
24 V
0 V
PIN 2
PIN 4
> 10 ms
> 10 ms
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16

19
11.2.1 Current supply prole of gripping process
I
t
Move com-
mand
Workpiece grip-
ped
500ms after a gripped workpiece
movement
standstill
subsequent current feed
workpiece loss detection
NOTICE
If the workpiece is lost, the product moves to the end position.
11.3 Switching sequence for teaching in the end position
This function can be used to teach in the end positions of the product.
►Make sure that both input signals are switched for 5seconds after a restart.
ÖThe product opens and closes several times and then stays open.
ÖThe factory default settings are "BasePosition" and "WorkPosition."
ÖTeaching in the end position again prevents the product from being unnecessarily energized when it is in the end
position.
►In the case of a mechanically limited end position, teach in the end position again.
24 V
0 V
24 V
0 V
PIN 2
PIN 4
Cold start > 5 ms
11.4 Minimum travel path
Design size Minimum travel path per gripper jaw [mm]
GEP20XXIO-00 0.5
GEP20XXIO-05 0,5
GEP20XXIO-45 0,5
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

20
12 Commissioning the GEP2000IL-00
12.1 Process data
There is an option to control the product only with the process data that is transmitted in each cycle.
Outputs: Process data from the IO-Link master to the product!
Name Data type
ControlWord UINT16
DeviceMode UINT8
WorkpieceNo UINT8
TeachPosition UINT16
GripForce UINT8
PositionTolerance UINT8
Control system Gripper
Input
Output
Name Data type
StatusWord UINT16
Diagnosis UINT16
ActualPosition UINT16
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS:GEP2000
DDOC01113 / c EN / 2022-11-16