Zimmer GPP5000IL Series User manual

INSTALLATION AND
OPERATING INSTRUC-
TIONS
2-jaw parallel gripper
3-jaw concentric gripper
GPP/GPD5000-IL series
DDOC00247
THE KNOW-HOW FACTORY
www.zimmer-group.com

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Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
Parameter explanation (glossary)
Parameter Explanation
ControlWord
The gripper is controlled using the "ControlWord."
The "ControlWord" is bit-exclusive, which means that only one bit at a time can be active in the
"Word." The value "ZERO" is also permitted.
DeviceMode The "DeviceMode" is used to select gripping proles as well as the additional help modes in
the gripper.
Workpiece No. You can use this parameter to select or save the workpiece recipes stored in the gripper.
TeachPosition The "TeachPosition" is the actual workpiece position.
WorkPosition The "WorkPosition" is the inner jaw position on the gripper. Depending on the application, for
example with internal grippers, this can also be the standby position.
PositionTolerance This is the tolerance window for the "TeachPosition." 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!
StatusWord In its bits, the "StatusWord" returns the most important information about the status of the grip-
per 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 gripper [1/100 mm].
Error Fault, error message
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 reach-
able 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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Content
1. Supporting documents.......................................................................................................................................................5
2. Safety notes .........................................................................................................................................................................5
3. Proper use............................................................................................................................................................................6
4. Personnel qualication .......................................................................................................................................................6
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 GPP5006/08/10IL.............................................................................................................................................................................................8
6.2 GPP5013/16/25IL.............................................................................................................................................................................................8
6.3 GPD5006/08/10IL ............................................................................................................................................................................................8
6.4 GPD5013/16/25IL ............................................................................................................................................................................................8
6.5 Gripping force safety device ............................................................................................................................................................................9
6.6 Veried conguration........................................................................................................................................................................................9
6.7 Technical data .................................................................................................................................................................................................10
6.8 Protection classes...........................................................................................................................................................................................10
6.9 LED display......................................................................................................................................................................................................10
7. Installation..........................................................................................................................................................................11
7.1 Safety notes.....................................................................................................................................................................................................11
7.2 General installation information .....................................................................................................................................................................11
7.3 Installing the GPP5006/08/10/13/16/25IL gripper .....................................................................................................................................12
7.4 Installing the GPD5006/08/10/13/16/25IL gripper.....................................................................................................................................13
7.5 Installing the power supply.............................................................................................................................................................................14
7.5.1 Installing the pneumatic system ....................................................................................................................................................................14
7.5.2 Installing the electrical system .......................................................................................................................................................................15
7.6 Installing the "IO-Link".....................................................................................................................................................................................16
7.7 Static charge ...................................................................................................................................................................................................17
7.8 Heat dissipation...............................................................................................................................................................................................18
7.9 Inuencing the position sensor......................................................................................................................................................................18
7.10 Installing accessories .....................................................................................................................................................................................18
8. Commissioning..................................................................................................................................................................19
8.1 Commissioning the "IO-Link" .........................................................................................................................................................................19
8.1.1 Process data....................................................................................................................................................................................................19
8.1.2 Process data control system..........................................................................................................................................................................20
8.1.3 IODD import ....................................................................................................................................................................................................20
8.2 "Handshake" data transfer method................................................................................................................................................................21
8.2.1 "Initial commissioning" example parameters................................................................................................................................................22
8.2.2 "Starting gripping movement" example parameters ....................................................................................................................................22
8.3 Parameters ......................................................................................................................................................................................................22
8.3.1 "ControlWord" parameter ...............................................................................................................................................................................22
8.3.2 "DeviceMode" parameter................................................................................................................................................................................24
8.3.3 "WorkpieceNo" parameter..............................................................................................................................................................................25
8.3.4 "TeachPosition" parameter .............................................................................................................................................................................26
8.3.5 "PositionTolerance" parameter.......................................................................................................................................................................27
8.3.6 "StatusWord" parameter .................................................................................................................................................................................28
8.3.7 "Diagnosis" parameter ....................................................................................................................................................................................29
8.3.8 "ActualPosition" parameter ............................................................................................................................................................................29
8.3.9 End position sensing ......................................................................................................................................................................................30
8.4 Service parameters.........................................................................................................................................................................................30
8.4.1 "Status" 0x40 ...................................................................................................................................................................................................30
8.4.2 "Diagnostics" 0x41 ..........................................................................................................................................................................................30

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INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
8.4.3 "CycleCounter" 0x42.......................................................................................................................................................................................30
8.4.4 "SystemTemperature" 0x43............................................................................................................................................................................31
8.4.5 "ControlWord" 0x44 ........................................................................................................................................................................................31
8.4.6 "ErrorCode" 0x45 ............................................................................................................................................................................................31
8.4.7 "ErrorCounter" 0x46........................................................................................................................................................................................31
8.4.8 "Operating hour counter" 0x47 ......................................................................................................................................................................31
8.4.9 "ActualPosition" 0x100....................................................................................................................................................................................32
8.4.10 "TeachPosition" 0x101 ....................................................................................................................................................................................32
8.4.11 "WorkpieceNo" 0x102.....................................................................................................................................................................................32
8.4.12 "DeviceMode" 0x103.......................................................................................................................................................................................32
8.4.13 "PositionTolerance" 0x104..............................................................................................................................................................................32
8.4.14 "Current operating pressure" 0x110..............................................................................................................................................................33
8.4.15 "Bottom pressure switch" 0x111....................................................................................................................................................................33
8.4.16 "Top pressure switch" 0x112..........................................................................................................................................................................33
8.4.17 "PressureHysteresis" 0x113 ...........................................................................................................................................................................33
8.4.18 "BasePosition/WorkPosition switching thresholds" 0x114..........................................................................................................................33
8.4.19 "MovementDetection" 0x115..........................................................................................................................................................................34
8.4.20 "HallErrorThreshold" 0x118............................................................................................................................................................................34
9. Service parameters ...........................................................................................................................................................35
10.Error diagnosis ..................................................................................................................................................................36
10.1 Troubleshooting display .................................................................................................................................................................................36
11.Elimination of errors .........................................................................................................................................................38
12.Gripping force charts ........................................................................................................................................................39
13.Accessories/scope of delivery.........................................................................................................................................39
14.Maintenance ......................................................................................................................................................................39
15.Transportation/storage/preservation ..............................................................................................................................39
16.Decommissioning and disposal.......................................................................................................................................39
17.RoHS declaration ..............................................................................................................................................................40
18.REACH declaration ...........................................................................................................................................................40
19.Declaration of Incorporation.............................................................................................................................................41
20.Declaration of Conformity.................................................................................................................................................42

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1. Supporting documents
NOTICE:
Read through the installation and operating instructions carefully before installing the product!
The installation and operating instructions contain important 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). Only those
documents currently available on the website are valid.
• Catalogs, drawings, CAD data, performance data
• Information on accessories
• Installation and operating instructions
• Technical data sheets
• General Terms and Conditions of Business with specications for the warranty entitlement
2. Safety notes
CAUTION:
Non-compliance may result in severe injuries!
1. Installation, commissioning, maintenance and repairs may only be performed by qualied specialists in ac-
cordance with these installation and operating instructions.
2. The gripper is state-of-the-art. It is tted to industrial machines and is used to hold workpieces. The following
are examples of situations in which the gripper may pose a hazard:
• The gripper is not properly installed, used or maintained
• The gripper is not used for its intended purpose
• Local regulations (legislation, ordinances, guidelines), such as the EC Machinery Directive, accident pre-
vention regulations and the installation and operating instructions, are not observed.
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. Make sure that the power cables are disconnected before you install, modify, maintain or repair the gripper.
6. In case of maintenance, modication or attachment work, remove the gripper from the machine and perform
the work outside the danger zone.
7. When commissioning or testing, make sure that the gripper cannot be activated by mistake.
8. Modications to the gripper, such as adding drilled holes or threads, may be made only with prior approval
from Zimmer GmbH.
9. The specied maintenance intervals 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 the contamination. Please contact our hotline for this purpose.
10.Use of the gripper under extreme conditions, such as aggressive liquids and abrasive dusts, is subject to
prior approval from Zimmer GmbH.
11.Do not reach into the operational range of the gripper!
12.When disassembling grippers with integrated springs, exercise heightened caution because spring tension is
always present.
13.The gripper is protected by temperature monitoring and the maximum duration of the current feed. Neverthe-
less, you should observe a certain cooling time immediately after use before the gripper is modied, ser-
viced, repaired or dismantled. Wearing personal protective equipment is also advisable.
14.Persons with life-sustaining implants (e.g. pacemakers) must maintain a distance of 100 mm from the grip-
per!
15.Data carriers with a sensitivity to magnetic inuences should not be used at a distance closer than 100 mm.

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INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
3. Proper use
NOTICE:
The gripper is to be used only in its original state with its original accessories, without any unauthorized 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 pneumatic electric operation using a supply voltage of 24 V DC and a maximum
operating pressure of:
• 4 to 7 bar – Spring variant (NC, SC, NO, SO)
• 3 to 8 bar – Universal operation (N, S)
.
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 qualied personnel. These personnel must have
read and understood the installation and operating instructions in full.

INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
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5. Product description
CAUTION:
Reduction of gripping force
Reduce the gripping force of the gripper when gripping exible components.
A reduced gripping force can lead to material damage or injury to personnel, because the components that are
being gripped can no longer be securely gripped and transported.
5.1 Possible applications
Outside gripping:
The gripper can be used for outside
gripping.
Inside grippingOutside gripping
Inside gripping:
The gripper can be used for inside
gripping.
5.2 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 questions.
5.3 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 ensures that the unit has an unambiguous, continuous
classication in the event of an update or an overhaul.
►You should assign the serial number to your project when possible.
ÖArticle number: dl
ÖSerial number: dm
XXX
XX-XXXXXX
dl
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 questions.

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INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
6. Function
6.1 GPP5006/08/10IL
The gripper ngers of the parallel gripper are arranged parallel to each other on two opposing guide rails and can be
moved relative to each other. Compressed air is used to supply power. The compressed air moves an internal pneumatic
piston. The stroke movement of this pneumatic piston is redirected to the gripper jaws via a connecting rod. This generates
the movement of the gripper jaws. An internal spring is used to retain the gripping force if there is a drop in pressure (only
for spring variants).
1Removable centering sleeve Figure: Cutaway view of the GPP5000IL series gripper
2Positively driven wedge hook
transmission
3Mounting and positioning
4Position sensing
5Integrated valve technology
6Steel linear guide
7Double-lip seal
8Gripper jaws
9Integrated gripping force safety
device (spring variant)
bl Integrated control module
6.2 GPP5013/16/25IL
For these installation sizes, position sensing 4is integrated into the gripper.
6.3 GPD5006/08/10IL
The gripper ngers of the three-jaw gripper are each positioned between two steel guide rails.
Compressed air that moves a piston is used to supply power. The stroke movement of the piston is redirected to the gripper
jaws via a connecting rod. This generates the movement of the gripper jaws. An internal spring is used to retain the grip-
ping force if there is a drop in pressure (only for spring variants).
1Removable centering sleeve Figure: Cutaway view of the GPD5000IL series gripper
2Positively driven wedge hook
transmission
3Double-lip seal
4Integrated gripping force safety
device (spring variant)
5Position sensing
6Mounting and positioning
7Gripper jaws
8Steel linear guide
9Integrated control module
bl Integrated valve technology
6.4 GPD5013/16/25IL
For these installation sizes, position sensing 5is integrated into the gripper.

INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
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DDOC00247 / dEN / 2020-07-20
6.5 Gripping force safety device
INFORMATION:
An integrated spring is used to retain the gripping force if there is a drop in pressure.
ÖNot for grippers in universal operation (N, S). Here, there is no gripping force safety device if there is a drop
in pressure or a voltage loss!
Zimmer Customer Service is available to provide assistance if you have any further questions
GPP/GPD5000IL
Without spring
N/S
With spring
NC/NO/SC/SO
• Pressure failure
• Actuator voltage present
• Without pressure safety valve
• Pressure failure
• Actuator voltage present
• With pressure safety valve
• Operating pressure present
• No actuator voltage
• Without pressure safety valve
• Operating pressure present
• No actuator voltage
• With pressure safety valve
No gripping force
Spring force
Complete gripping force
6.6 Veried conguration
INFORMATION:
For information about the veried conguration, please visit our website.
Zimmer Customer Service is available to provide you with assistance if you have any further questions.

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INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
6.7 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 questions.
6.8 Protection classes
NOTICE:
The gripper achieves protection class IP64 in all mounted positions of installation.
Ventilation (R + S): If the environment is dirty, replace lters with exhaust hoses and move the exhaust air outlet
to a clean environment.
6.9 LED display
The colors of the LED reect the status of the gripper.
Status Function
Continuous light "TeachPosition"
Flashing Currently not assigned
Continuous light "BasePosition" / "WorkPosition"
Flashing Currently not assigned
Continuous light The gripper has a malfunction
Flashing No IO-Link connection available
Continuous light Gripper is in an undened position
Flashing Currently not assigned

INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
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DDOC00247 / dEN / 2020-07-20
7. Installation
7.1 Safety notes
NOTICE:
Switch off the power supply for the electronics before any assembly, installation or maintenance work.
►Electronics may get damaged.
CAUTION:
Switch off the power supply for the electronics before any assembly, installation or maintenance work.
►Injuries are possible.
WARNING:
Risk of injury in the event of unexpected movement of the machine or system into which the gripper is to be
installed.
►Switch off the power supply to the machine or the system before all work.
►Secure the machine or system from being switched on unintentionally.
►Check the machine or system 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 are not included in the scope of delivery.
ÖStrength class of the mounting screws at least 8.8 DIN EN ISO 4762.
ÖObserve the tightening torques of the mounting screws.
ÖMake sure the mounting surface is su󹱺ciently rigid and at.

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INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
7.3 Installing the GPP5006/08/10/13/16/25IL gripper
The gripper can be installed from multi-
ple sides: Either directly on the gripper
or on the mounting piece.
The following work steps must be ob-
served during installation:
►Insert the centering sleeves bm into
the designated ts bo on the gripper.
►Position the gripper on the designat-
ed mounting piece using the center-
ing sleeves bm.
►Use the mounting screws bn to
secure the gripper onto the mounting
piece.
bm
bn
bn
bm
bm
bn

INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
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DDOC00247 / dEN / 2020-07-20
7.4 Installing the GPD5006/08/10/13/16/25IL gripper
The gripper can be installed from multi-
ple sides: Either directly on the gripper
or on the mounting piece.
The following work steps must be ob-
served during installation:
►Insert the pins bp into the designat-
ed drilled hole bq on the gripper.
►Position the gripper on the designat-
ed mounting piece using pins bp.
►Use the mounting screws bn to
secure the gripper onto the mounting
piece.
bp
bq
bn
bp
bq
bn

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INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
7.5 Installing the power supply
7.5.1 Installing the pneumatic system
bs Connection "R": Exhaust air
with mounted silencer
bt Connection "S": Exhaust air with
mounted silencer
bt
bu
bs
bu
bs
bt
bu Connection "P": Compressed
air
INFORMATION:
Refer to the technical data sheet for alternative connections.
The authorized pneumatic connections that are available can be found in the accessories list, available on our
website.
The necessary ordering information can also be found there.
ÖUse compressed air in accordance with DIN ISO 8573-1 [3:4:3].
The pneumatic connections A and B right on the gripper are not used and are closed. For applications with
an IP64 protection class, we recommend installing hoses on the "R" and "S" connections for discharging the
exhaust air to prevent foreign substances or water from damaging the gripper.

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7.5.2 Installing the electrical system
Connect the supply cable to the gripper
and the control system.
ÖYou can nd the corresponding sup-
ply cable on our website
INFORMATION:
The cables that are used by Zimmer GmbH feature a minimum bending radius of 10 x the outer diameter. This
bending radius must not be undershot!
ÖAll IO-Link cables that are installed in the grippers have an outer diameter of 5mm and thus have a bending
radius of 50 mm.
ÖFreely suspended cables must be secured to prevent excessive motion loads or pinching.

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INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
7.6 Installing the "IO-Link"
Pin assignment of the power supply line:
PIN Color Function Explanation
1 Brown Sensor + 24 V DC Power supply for IO-Link communication
2 White Actuator + 24 V
DC Actuator supply voltage
3 Blue GND sensor Sensor 0 V DC supply voltage
4 Black C/Q IO-Link communication
5Gray GND actuator Actuator 0 V DC supply voltage
The following steps must be carried out to commission or mount with IO-Link:
►Connect the gripper to the IO-Link master.
►Secure the voltage supply.
ÖFor Port Class A, additional power supply via Y-cable.
►Importing the IODD (device description) into the control system.
ÖGo to our website.
ÖSelect the desired gripper and download the corresponding .zip le via the "Download IODD" link.
ÖThe .zip le is required for importing into the control system.
When the hardware conguration is complete and the IO-Link connection to the gripper 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.
ÖBit 6 must be active in the low byte.
ÖIf bit 6 is active in the rst byte, a byte swap still has to be applied here.
ÖIf bit 6 is active in the second byte, the bytes already have the correct sequence and you can continue with the rest of
the commissioning.
INFORMATION:
It is mandatory to verify the process data!
The gripper is controlled via IO-Link by means of the cyclical process data as well as the acyclic service data with a cycle
time of 2.5 ms.
During a communication cycle, the IO-Link master sends 8 bytes to the gripper and receives 6 bytes of process data.
Cold boot or initial commissioning or "Easy startup mode" initial commissioning
"From switching on the gripper to the initial movement"
Connect the gripper according to the assignment diagram.
The gripper reports the "StatusWord", "Diagnosis" and "ActualPosition" processes immediately after the internal controller is
booted up.
Once the bit in the "StatusWord" bit 6 PLC active is registered, the communication process can start.
To move the gripper, the process parameters must rst be transmitted. The following process parameters are involved:
• "DeviceMode" (movement prole)
• "WorkpieceNo" (workpiece number)
A "handshake" is required to transmit the process parameters to the gripper.

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INFORMATION:
For information on the "handshake," refer to Section „8.2 Verfahren der Datenübertragung „Handshake“.
The data transmission starts with the ControlWord = 1 (dec). Once the process parameters have been transmitted to the
gripper, the gripper will report this back in the "StatusWord" with the "DataTransferOK" bit.
The gripper is now ready for operation. The gripper then moves to the relevant position after receiving the corresponding
command in the "ControlWord."
The gripper features bidirectional behavior. This means that the gripper cannot position itself to intermediate values auto-
matically. Each movement command is executed to the maximum possible position.
INFORMATION:
Refer to the description of the "StatusWord" for more information concerning this.
7.7 Static charge
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.
NOTICE:
Non-compliance may result in material damage
Grounding the gripper attachment / gripper jaws is recommended if ESD-sensitive parts come into contact with
the gripper.
The exact position of the ground connection can be found in the technical drawing on the data sheet.
Grounding is also recommended in applications that require high EMC shielding.
INFORMATION:
The exact position of the grounding can be found in the technical data sheet on 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 questions.

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DDOC00247 / d EN / 2020-07-20
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
7.8 Heat dissipation
In the event of high ambient temperatures, the gripper has to be installed on heat-dissipating materials.
If the gripper is operated under very high ambient temperatures and with fast clock cycles on an ongoing basis, this might
reduce its service life.
7.9 Inuencing the position sensor
The gure depicts an area in which no
magnets or components with ferromag-
netic properties may be attached.
This can have a signicant inuence
on the accuracy of the position sensor
and/or result in a malfunction of the
position sensor.
ÖThis only applies to the following
installation sizes:
• GPP5006IL/5008IL/5010IL
• GPD5006IL/5008IL/5010IL
NOTICE:
The position sensor itself must never be covered up by ferromagnetic attachment or design elements.
7.10 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.
Zimmer Customer Service is available to provide you with assistance if you have any further questions.

INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
19
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
DDOC00247 / dEN / 2020-07-20
8. Commissioning
8.1 "IO-Link" commissioning
8.1.1 Process data
The option exists for the gripper to be controlled only by the process data transmitted in each cycle.
Name Data type
ControlWord UINT 16
DeviceMode UINT 8
Workpiece No. UINT 8
TeachPosition UINT 16
Reserved UINT 8
PositionTolerance UINT 8
Steuerung Greifer
Eingang
Ausgang
Name Data type
StatusWord UINT 16
Diagnosis UINT 16
ActualPosition UINT 16
Outputs: Process data from the IO-Link master to the gripper!

20
DDOC00247 / d EN / 2020-07-20
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: Gripper, pneumatically intelligent, GPP/GPD5000-IL series
8.1.2 Process data control system
In general, it is only possible to control the gripper by means of the cyclically exchanged process data.
However, this is possible only if the value 0 is transmitted in the "WorkpieceNo" process data word.
When the gripper is restarted, it is mandatory to write a "1" in the "ControlWord" rst. Only then is the gripper active and
able to move.
Step 1:
All other process data must be congured to the desired values. These values are loaded in the gripper as the current data
set using a "1" in the "ControlWord." The workpiece must then be inserted and the bit toward "WorkPosition" (= 512) must
be set using the "ControlWord." This command makes the gripper move toward the "WorkPosition" until it is stopped by the
workpiece or the end position has been reached.
Step 2:
The "Actual position" can now be read from the incoming process data. This value can be written to the "TeachPosition" of
the outgoing process data in order to teach in the current position as the new workpiece position.
At the same time, a "5" should be transferred in the "PositionTolerance" parameter for the standard size of the "Teach posi-
tion" tolerance. If these values have been entered in the process data, a "1" can be written in the "ControlWord" to tell the
gripper again that these values are to be accepted into the currently valid data set.
Step 3:
After the gripper recognizes the data set as the current valid data set, it uses the "StatusWord" (= 512) to provide corre-
sponding feedback on a whether it has gripped the taught-in workpiece.
8.1.3 IODD import
►Importing the IODD (device description) into the control system.
ÖGo to our website
ÖSelect the desired gripper and download the corresponding .zip le via the "Download IODD" link.
ÖThe ".zip le" is required for importing into the control system.
When the hardware conguration is complete and the IO-Link connection to the gripper 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.
INFORMATION:
It is mandatory to verify the process data!
The gripper 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.