Zimmer GEP9000 Series User manual

INSTALLATION AND
OPERATING
INSTRUCTIONS
GEP9000 series
2-jaw parallel grippers
DDOC00190
THE KNOW-HOW FACTORY
www.zimmer-group.com

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DDOC00190 / c EN / 2020-02-03
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP9000 series

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP9000 series
3
DDOC00190 / cEN / 2020-02-03
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
Contents
1. Supporting documents.......................................................................................................................................................4
2. Safety notes .........................................................................................................................................................................4
3. Proper use............................................................................................................................................................................5
4. Personnelqualication .......................................................................................................................................................5
5. Product description.............................................................................................................................................................5
5.1 Forces and torques ...........................................................................................................................................................................................5
5.2 Type plate ..........................................................................................................................................................................................................5
6. Function ...............................................................................................................................................................................6
6.1 Technical data ...................................................................................................................................................................................................6
7. Installation............................................................................................................................................................................7
7.1 Safety notes.......................................................................................................................................................................................................7
7.2 General installation information .......................................................................................................................................................................7
7.3 Installing the gripper .........................................................................................................................................................................................7
7.4 Installingthegripperngers ............................................................................................................................................................................8
7.5 Installing accessories .......................................................................................................................................................................................8
8. Commissioning....................................................................................................................................................................9
8.1 Control ...............................................................................................................................................................................................................9
8.2 Flow diagram NC Version.................................................................................................................................................................................9
8.3 Flow diagram NO Version.................................................................................................................................................................................9
9. Error diagnosis .................................................................................................................................................................10
9.1 Status table......................................................................................................................................................................................................11
10.Sensors ..............................................................................................................................................................................11
10.1 Sensing of the intermediate position.............................................................................................................................................................11
10.2 Sensing of end positions................................................................................................................................................................................11
10.3 LED display......................................................................................................................................................................................................11
10.4 Status table......................................................................................................................................................................................................12
11.Maintenance ......................................................................................................................................................................13
12.Accessories/scope of delivery.........................................................................................................................................13
13.Transportation/storage/preservation ..............................................................................................................................13
14.Decommissioning and disposal.......................................................................................................................................13
15.Declaration of Incorporation.............................................................................................................................................14
16.Declaration of Conformity.................................................................................................................................................15

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DDOC00190 / c EN / 2020-02-03
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP9000 series
1. Supporting documents
NOTICE:
Read through the installation and operating instructions carefully before installing the product!
The installation and operating instructions contain important notes for your personal safety. They
must be read and understood by all persons who work with or handle the product during any phase
of the product life time.
The documents listed below are available for download on our website (www.zimmer-group.com).
Only those documents currently available on the website are valid.
• Catalogs, drawings, CAD data, performance data
• Information on accessories
• Detailed installation and operating instructions
• Technical data sheets
• General Terms and Conditions of Business, including warranty information
2. Safety notes
CAUTION:
Non-compliance may result in severe injuries!
1. Installation,commissioning,maintenanceandrepairsmayonlybeperformedbyqualiedspecial-
ists in accordance with these installation and operating instructions.
2. Thegrippersarestate-of-the-art.Theyarettedtoindustrialmachinesandareusedtoholdwork-
pieces. The grippers will only be dangerous if, for instance:
• The grippers are not properly installed, used or maintained.
• The grippers are not used for their intended purpose.
• The local regulations (legislation, decrees, guidelines), such as the EC Machinery Directive,
accident prevention regulations and the assembly and operating instructions, are not ob-
served.
3. The gripper may be used only in accordance with its proper use and technical data. Zimmer GmbH
shall accept no liability for any damage caused by improper use.
4. Any use other than the intended use requires written approval from Zimmer GmbH
5. Do not reach into the operational range of the gripper.
6. Make sure that the power cables are disconnected before you install, modify, maintain or repair the
gripper.
7. Incaseofmaintenance,modicationorattachmentwork,removethegripperfromthemachine
and perform the work outside the danger zone.
8. When commissioning or testing, make sure that the gripper cannot be actuated by mistake.
9. Modicationstothegripper,suchasaddingdrillholesorthreads,maybemadeonlywithprior
approval from Zimmer GmbH.
10.Thespeciedmaintenanceintervalsandcompressedairqualityspecicationsaretobeobserved;
also refer to the Maintenance section. When the gripper is used under extreme conditions, the
maintenance interval must be adapted depending on the extent of contamination. Please contact
our hotline for this purpose.
11.Use of the gripper under extreme conditions, such as aggressive liquids and abrasive dust, is sub-
ject to prior approval from Zimmer GmbH
12.When disassembling grippers with integrated springs, exercise heightened caution because spring
tension is always present.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP9000 series
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DDOC00190 / cEN / 2020-02-03
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
3. Proper use
NOTICE:
The gripper is to be used only in its original state with its original accessories, without any unautho-
rizedchangesandwithinthescopeofitsdenedparametersofuse.
Zimmer GmbH shall accept no liability for any damage caused by improper use.
Useoutsideofthedenedparametersisnotpermitted.Unauthorizedelectricalormechanicalmodicationsmustnot
be made.
Thegripperisdesignedexclusivelyforelectricoperationusinga24Vpowersupply.
The gripper is designated for use in enclosed rooms for temporarily gripping, handling and holding parts.
The gripper is not suitable for clamping workpieces during a machining process.
Direct contact with perishable goods/food is not permitted.
4. Personnel qualication
Installation, commissioning and maintenance may only be performed by specialists. These personnel must have read
and understood the installation and operating instructions in full.
5. Product description
5.1 Forces and torques
INFORMATION:
For information on forces and torques, please visit our website.
Zimmer Customer Service is available to provide you with assistance if you have any further ques-
tions.
5.2 Type plate
A type plate is attached to the housing of the gripper.
The serial number and the article number are shown on this type plate.
►The serial number should be assigned to the project.
ÖArticle number: dl
ÖSerial number: dm
INFORMATION:
Please state the serial number in the event of damage or a complaint.
Zimmer Customer Service is available to provide you with assistance if you have any further ques-
tions.

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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, GEP9000 series
6. Function
A current pulse sets the integrated moving coil drive into motion. The travel path generated in this process is trans-
ferred to the gripper jaws by kinematics, producing the stroke.
NCissuitableforoutsidegripping►◄andNOissuitableforinsidegripping◄►.
Fig. 1: GEP9000 gripper
Fig. 2: Cutaway view of the GEP9000 gripper
6.1 Technical data
INFORMATION:
For technical data, please visit our website.
Thisdatavarieswithintheseries,dependingonthespecicdesign.
Zimmer Customer Service is available to provide you with assistance if you have any further ques-
tions.
1Gripper jaw
2Positively driven wedge hook transmis-
sion
3Drive
4Position sensing
5Status control
6Power supply
7Mounting and positioning
8Robust, lightweight housing
1
2
4
5
6
3
7
8

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP9000 series
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DDOC00190 / cEN / 2020-02-03
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
7. Installation
7.1 Safety notes
NOTICE:
Switch off the energy supply for the electronics before any assembly, installation or maintenance work.
►Electronics may get damaged.
CAUTION:
Switch off the energy supply for the electronics before any assembly, installation or maintenance work.
►Injuries are possible.
WARNING:
Risk of injury in case of unexpected movement of the machine or system into which the gripper is to be
installed.
►Switch 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.
7.2 General installation information
Thegrippermustbeinstalledonamountingsurfaceinaccordancewiththespecicationsforatness.
Length < 100 mm permittedatnessimperfection<0.02mm
Length > 100 mm permittedatnessimperfection<0.05mm
ÖThe mounting screws and the pins are not included in the scope of delivery.
ÖStrengthclassofthemountingscrews≥8.8(DINENISO4762)
ÖObserve the tightening torque of the mounting screws.
ÖMakesurethemountingsurfaceissu󹱺cientlyrigidandat.
ÖRefer to the technical data sheet for the exact positions.
7.3 Installing the gripper
The gripper can be installed from multiple sides on
the mounting piece via the threads on the housing.
The following work steps must be observed during
installation:
►Insert the straight pin bmintothedesignatedts
on the gripper.
►Use the straight pin bm to position the gripper on
the designated mounting piece.
►Use the mounting screws bl to secure the grip-
per onto the mounting piece.
►Install the power supply cable.
bl
bl
bm
bl
bm

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DDOC00190 / c EN / 2020-02-03
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP9000 series
7.4 Installing the gripper ngers
NOTICE:
Beforeinstallingthegripperngers,makesuretheyareofasuitablelengthfortheselectedgripper
variant.
For more information, refer to our website.
Zimmer Customer Service is available to provide you with assistance if you have any further ques-
tions.
7.5 Installing accessories
NOTICE:
Before installing an accessory, make sure it is suitable for use with the selected variant.
For information on all available accessories, please visit our website.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP9000 series
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DDOC00190 / cEN / 2020-02-03
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
8. Commissioning
8.1 Control
To use the gripper, a power supply is required at inputs 3 and 8 (0V) as well as at input 6 (+24VDC/5A). Input 1
(DIR) is used as the control input by means of which the gripper is opened or closed. The signal of input 1 (DIR)
must remain present until an opposite movement of the gripper jaws is required.
Thepowerconsumptionduringthemovementofthegripperjawsis≤5A.
At resting position, the power consumption of the gripper is 0.02A.
8.2 Flow diagram NC Version
8.3 Flow diagram NO Version
PIN Color Function Explanation
1 White DIR IN open/close gripper control input 24VDC
2 Brown closed OUT gripper closed message
3 Green GND +24VDC/5A power supply
4 Yellow teached position OUT workpiece gripped message
5Gray opened OUT gripper open message
6 Pink +24VDC 24VDC/5A power supply
7 Blue teach/adjust IN programming input
8Red GND 0VDC power supply
1
2
3
4
5
6
7
8
DIR
closed
0 V
TeachPosition
opened
+ 24 V / 5 A
Teach/Adjust
0 V
Cable configuration
24V
0V
Eingang 1 (DIR)
Stromaufnahme
Greiferposition
→ ←
← →
24V
0V
Eingang 1 (DIR)
Stromaufnahme
Greiferposition
→ ←
← →

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DDOC00190 / c EN / 2020-02-03
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP9000 series
9. Error diagnosis
Error code Error Possible cause Measure
Temperature outside of permit-
ted range
LEDdisplayashes
  
Adapter plate made from a
materialwithacoe󹱺cientof
thermal conductivity that is too
small
Improve the adapter plate
heat convection by changing
material
Surrounding temperature too
high
Providesu󹱺cientventilation
Defective position sensor, no
coil current
LEDdisplayashes
  
Faulty power supply Check power supply cable for
defects
Check connected current and
voltage
Send in the gripper for inspec-
tion
Voltage outside of permitted
range
LEDdisplayashes
  
Faulty power supply Check the power supply cable
for defects. Check the given
current and voltage. Send in
the gripper for inspection.
Programmed gripper position
is not recognized
LEDdisplayashes
  
Workpiece tolerance outside of
sensing range
Reprogram the gripper position
Clamp the gripper jaws Relubricate
Checkatnessofmounting
surface
Compare actual length of grip-
per jaws with permitted length
Gripping force is not attained Spring fracture Send in the gripper for inspec-
tion
Contamination,
inadequate lubrication
Clean the guide and relubricate
Gripper jaws
do not move
Faulty power supply Check power supply cable for
defects
Check connected current and
voltage
Damage to one or more func-
tional parts due to overload
Send in the gripper for inspec-
tion
Spring fracture Send in the gripper for inspec-
tion
End position signals are not
displayed
End position is outside of pre-
set range
Calibrate end position query
via automatic traversing routine
Defective power supply cable Replace power supply cable
Defective integrated Hall sen-
sor
Send in the gripper for inspec-
tion

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP9000 series
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DDOC00190 / cEN / 2020-02-03
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9.1 Status table
NOTICE:
No signal is on while energizing the coil and until position is stabilized.
10. Sensors
10.1 Sensing the intermediate position
The intermediate position, also referred to as "workpiece gripped," can be programmed as needed. For this pur-
pose,asignal(+24V)mustbeappliedtoinput7(teach/adjust)foramaximumof3seconds.
In this process, feedback is provided via output 4 (teached position).
The status is visualized on the gripper via the LED display.
10.2 Sensing the end positions
The gripper's end position sensing is preset at the factory. If necessary, end positions can be reset by means of
anautomatictraversingroutine.Forthispurpose,asignal(+24V)mustbeappliedtoinput7(teach/adjust)forat
least 10 seconds.
After 3 seconds, the traversing routine begins and is completed after approx. 20 gripping cycles. If the signal
(+24V)isinterruptedbeforetheendofthetraversingroutine,thenewendpositionsarenotstoredintheinternal
control system.
End position feedback takes place by means of outputs 2 (closed) and 5 (opened).
The statuses are visualized on the gripper by means of the LED display.
10.3 LED display
Status
Outputs LEDdisplayashes
opened teached
position
closed opened

teached
position

closed

Programmed gripper position is not
recognized I 0 I I 0 I
Defective position sensor IIIIII
No coil current IIIIII
Temperature outside of permitted
range I I 0 I I 0
Voltage outside of permitted range 0 I I 0 I I

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DDOC00190 / c EN / 2020-02-03
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP9000 series
10.4 Status table
NOTICE:
There is no signal while the coil is being energized and up until the position is stabilized.
Status
Outputs LED display
opened teached
position
closed opened

teached
position

closed

Open I 0 0 I 0 0
Closed 0 0 I 0 0 I
Programmed gripper position “teached
position” 0 I 0 0 I 0

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP9000 series
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DDOC00190 / cEN / 2020-02-03
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
11. Maintenance
Maintenance-free operation of the gripper is guaranteed for up to 30 million cycles.
The maintenance interval may shorten under the following circumstances:
• Dirty environment
• Improperuseandusethatdoesnotcomplywiththepowerspecications.
• Ambienttemperatureofmorethan60°C;lubricantshardenfaster!
Even though the gripper is, as mentioned, maintenance-free, perform a regular visual inspection to check for any corro-
sion, damage or contamination.
We recommend allowing maintenance and seal replacement to be carried out by Zimmer Customer Service.
Dismantling and reassembling the gripper without authorization may result in complications, as special installation
equipment is required in some cases.
Zimmer GmbH shall not be liable in the event of unauthorized dismantling and reassembling of the gripper or in the
event of any malfunction or damage resulting from this.
12. Accessories/scope of delivery
INFORMATION:
If any accessories not marketed or authorized by Zimmer GmbH are used, the function of the gripper
cannot be guaranteed.
TheaccessoriesfromZimmerGmbHarespecicallyttedfortheindividualgrippers.
Information on the corresponding optional accessories included in the scope of delivery can be
found at
www.zimmer-group.com.
13. Transportation/storage/preservation
►The transport and storage of the gripper must take place exclusively in the original packaging.
►If the gripper has already been installed on the higher-level machine unit, it must be ensured during transport that
no unintentional movements may take place. Before commissioning the machine 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:
ÖKeep the storage location as dust-free and dry as possible.
ÖAvoidtemperatureuctuations/observeandadheretothetemperaturerange.
ÖAvoid wind/drafts/water condensation formation.
ÖPackage the product.
ÖDuring storage, it must be kept from direct sunlight.
►Clean all components. There must be no soiling left on the components.
►Visually inspect all of the components.
►Remove all foreign objects.
►Properly remove potential corrosion spots.
►Close electrical connections using suitable covers.
14. Decommissioning and disposal
INFORMATION:
If the gripper reaches the end of its operational phase, the gripper can be completely disassembled
and disposed of. Disconnect the gripper from the power supply completely. The gripper can be disas-
sembled and properly disposed of according to material groups. When disposing of it, observe the
locally applicable environmental regulations and codes and regulations for disposal.

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DDOC00190 / c EN / 2020-02-03
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP9000 series
15. Declaration of Incorporation
In terms of the EU Machinery Directive 2006/42/EC (Annex II 1 B)
Name and address of the manufacturer:
Zimmer GmbH,
77866 Rheinau, Germany, Im Salmenkopf 5
[phone]
[phone]
 www.zimmer-group.com
We hereby declare that the incomplete machines described below
Product designation: 2-jaw parallel gripper, electric
Type designation: GEP9 series
conform to the requirements of the Machinery Directive, 2006/42/EC, Article 2g, Annex VII,b – Annex II,b, in their de-
sign and the version we put on the market.
The following harmonized standards have been used:
Basic health and safety requirements:
No. 1.1.2, No. 1.1.3, No. 1.1.5, No. 1.3.1, No. 1.3.2, No. 1.3.4, No. 1.3.7, No. 1.5.1, No. 1.5.3, No. 1.5.4, No. 1.6.4, No.
1.7.1, No. 1.7.3.
WealsodeclarethatthespecictechnicaldocumentswereproducedinaccordancewithAnnexVIIPartBofthis
Directive. We undertake to provide the market supervisory bodies with electronic versions of special documents for the
incomplete machine through our documentation department, should they have reason to request them.
The incomplete machine may only be commissioned if it has been ascertained, if applicable, that the machine or sys-
teminwhichtheincompletemachineistobeinstalledsatisestherequirementsofDirective2006/42/EConMachin-
ery and an EC Declaration of Conformity has been drawn up in accordance with Annex II 1A.
Authorized representative for the compilation of
relevant technical documents
Kurt Ross See manufacturer's address Rheinau, Germany, 2020-02-03 Martin Zimmer
First name, last name Address (Place and date of issuance) (Legally binding signature)
Managing Partner

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP9000 series
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Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
16. Declaration of Conformity
In terms of the EC Directive 2014/30/EC on electromagnetic compatibility
Name and address of the manufacturer:
Zimmer GmbH,
77866 Rheinau, Germany, Im Salmenkopf 5
[phone]
[phone]
 www.zimmer-group.com
We hereby declare that the products described below
Product designation: 2-jaw parallel gripper, electric
Type designation: GEP9 series
conform to the requirements of the Electromagnetic Compatibility Directive 2014/30/EU in its design and the version
we put on the market.
The following harmonized standards have been used:
DIN EN 61000-6-2 EMC Generic standard, Immunity for industrial environments
Electromagnetic Compatibility – Part 6-2
DIN EN 61000-6-4 EMC Generic standard, Emission standard for industrial environments
Electromagnetic Compatibility – Part 6-4
A full list of applied standards can be obtained from the manufacturer.
Authorized representative for the compilation of
relevant technical documents
Kurt Ross See manufacturer's address Rheinau, Germany, 2020-02-03 Martin Zimmer
First name, last name Address (Place and date of issuance) (Legally binding signature)
Managing Partner

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DDOC00190 / c EN / 2020-02-03
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, GEP9000 series