Zimmer HRC-01 Series User manual

www.zimmer-group.de
INSTALLATION
AND OPERATING
INSTRUCTIONS
HRC-01/-02 series
Gripper, electric
DDOC00416
THE KNOW-HOW FACTORY

INSTALLATION AND OPERATING INSTRUCTIONS: 2-Jaw parallel gripper, electric, HRC-01/-02 series
Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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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.
GripForce The "GripForce" parameter is used to congure the gripping force.
PositionTolerance This is the tolerance window for the "TeachPosition," "BasePosition" and "WorkPosition." The
value of the parameter acts in both directions.
BasePosition The "BasePosition" is the outer "JawPosition." Depending on the gripper prole, this can also
be a work position!
ShiftPosition The "ShiftPosition" is a switching position between pre-positioning and gripper movement.
StatusWord In its bits, the "StatusWord" returns the most important information about the status of the
gripper 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
DIR Direction/24 V cable connection - Depending on the gripper, this signal is used to move the
gripper.
Teach/Adjust
Program/Congure
Using this signal, depending on the gripper type, the current position of the gripper jaws can be
taught in as the new workpiece position. "Adjust" is used as a command to dene the reachable
end positions of the gripper jaws.
GND Abbreviation for ground connection
Offset Correction value
Traversing routine Dened procedure for movement of the gripper jaws
Travel path Path on which the gripper jaws travel

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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Content
1 Supporting documents......................................................................................................................................................... 5
1.1 Notices and graphics in the installation and operating instructions.......................................................................................................................5
1.2 Hazard levels of warning notices ...............................................................................................................................................................................5
2 Safety notes ........................................................................................................................................................................... 6
3 Proper use ............................................................................................................................................................................. 7
4 Personnel qualication ......................................................................................................................................................... 7
5 Product description .............................................................................................................................................................. 8
5.1 Einsatzmöglichkeiten ..................................................................................................................................................................................................8
5.2 Kräfte und Momente ...................................................................................................................................................................................................8
5.3 Typenschild..................................................................................................................................................................................................................8
5.4 Kriterien für den Einsatz in kollaborierenden Applikationen....................................................................................................................................9
6 Function ............................................................................................................................................................................... 10
6.1 HRC-01.......................................................................................................................................................................................................................10
6.2 HRC-02.......................................................................................................................................................................................................................11
6.3 Elektrische Spezikationen ......................................................................................................................................................................................12
6.4 Abgesicherte Konguration......................................................................................................................................................................................13
6.5 Schutzklasse..............................................................................................................................................................................................................13
6.6 LED-Anzeige ..............................................................................................................................................................................................................13
7 Technical data ..................................................................................................................................................................... 13
8 Installation............................................................................................................................................................................ 14
8.1 Safety notes ...............................................................................................................................................................................................................14
8.2 Allgemeine Montageinformationen..........................................................................................................................................................................14
8.3 Montage des Produkts „HRC-01“ und „HRC-02“...................................................................................................................................................15
8.4 Montage des Produkts „Adapteransch“ ...............................................................................................................................................................16
8.5 Montage Energiezuführung......................................................................................................................................................................................17
8.5.1 Montage Verkabelung ................................................................................................................................................................................17
8.5.2 Montage „IO-Link“.......................................................................................................................................................................................18
8.5.3 Montage „STO“ ...........................................................................................................................................................................................18
8.5.4 Montage „Molex-Stecker„...........................................................................................................................................................................19
8.6 Statische Auadung..................................................................................................................................................................................................20
8.7 Wärmeableitung ........................................................................................................................................................................................................20
8.8 Montage Zubehör......................................................................................................................................................................................................20
9 Inbetriebnahme ................................................................................................................................................................... 21
9.1 Inbetriebnahme IO-Link ............................................................................................................................................................................................21
9.1.1 Prozessdaten...............................................................................................................................................................................................21
9.1.2 IODD Import ................................................................................................................................................................................................22
9.1.3 Verfahren der Datenübertragung „Handshake“ .......................................................................................................................................22
9.2 Parameter...................................................................................................................................................................................................................23
9.2.1 Parameter „ControlWord“ ..........................................................................................................................................................................23
9.2.2 Parameter „DeviceMode“...........................................................................................................................................................................24
9.2.3 Fahrprole....................................................................................................................................................................................................25
9.2.4 Parameter „WorkpieceNo“ .........................................................................................................................................................................28
9.2.5 Parameter „PositionTolerance“ ..................................................................................................................................................................28
9.2.6 Parameter „GripForce“ ...............................................................................................................................................................................29
9.2.7 Parameter „DriveVelocity“ ..........................................................................................................................................................................29
9.2.8 Parameter „BasePosition“..........................................................................................................................................................................29
9.2.9 Parameter „ShiftPosition“...........................................................................................................................................................................30
9.2.10 Parameter „TeachPosition“.........................................................................................................................................................................30
9.2.11 Parameter „WorkPosition“..........................................................................................................................................................................30
9.2.12 Parameter „StatusWord“ ............................................................................................................................................................................31

INSTALLATION AND OPERATING INSTRUCTIONS: 2-Jaw parallel gripper, electric, HRC-01/-02 series
Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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9.2.13 Parameter „Diagnosis“ ...............................................................................................................................................................................32
9.2.14 Parameter „ActualPosition“........................................................................................................................................................................32
9.3 „Kaltstart“...................................................................................................................................................................................................................33
9.4 Mindestverfahrweg ...................................................................................................................................................................................................33
9.5 Referenzierung durch „Homing“..............................................................................................................................................................................33
9.5.1 „DeviceMode“ 10 ........................................................................................................................................................................................34
9.5.2 „DeviceMode“ 14 ........................................................................................................................................................................................34
9.5.3 „DeviceMode“ 16 ........................................................................................................................................................................................35
9.5.4 „DeviceMode“ 17 ........................................................................................................................................................................................36
9.6 Unterbrechung der Spannungsversorgung ............................................................................................................................................................37
9.7 „Easy Startup“ ...........................................................................................................................................................................................................37
9.8 Start der Datenübertragung .....................................................................................................................................................................................37
9.9 Grundparameter „Quickstart“ ..................................................................................................................................................................................38
9.10 Greiferbewegung starten..........................................................................................................................................................................................39
9.11 Mehrmaliges Fahren in die gleiche Richtung .........................................................................................................................................................39
9.12 Rezepturbeispiele .....................................................................................................................................................................................................40
9.12.1 „Rezeptur abspeichern“ .............................................................................................................................................................................40
9.12.2 „Rezeptur laden“.........................................................................................................................................................................................41
10 Bedienung ...........................................................................................................................................................................42
10.1 Notentriegelung.........................................................................................................................................................................................................42
11 Greifkraftdiagramme........................................................................................................................................................... 42
12 Fehlerdiagnose.................................................................................................................................................................... 43
13 Tabelle der azyklischen Daten (ISDU) ............................................................................................................................... 46
14 Wartung ............................................................................................................................................................................... 47
14.1 Wartungsintervall.......................................................................................................................................................................................................47
14.2 Wechsel der Schmelzsicherung...............................................................................................................................................................................48
15 Zubehör/Lieferumfang ....................................................................................................................................................... 48
16 Transport/Lagerung/Konservierung ................................................................................................................................. 48
17 Außerbetriebsetzung/Entsorgung ..................................................................................................................................... 49
18 RoHs-Erklärung ................................................................................................................................................................... 50
19 REACH-Erklärung................................................................................................................................................................ 50
20 Einbauerklärung.................................................................................................................................................................. 51
21 Konformitätserklärung ........................................................................................................................................................ 52

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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1 Supporting documents
NOTICE
Read through the installation and operating instructions carefully before installing the product!
The installation and operating instructions contain important 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 cycle.
The documents listed below are available for download on our website www.zimmer-group.com.
Only those documents currently available on the website are valid.
• Installation and operating instructions
• Catalogs, drawings, CAD data, performance data
• Information on accessories
• Technical data sheets
• General Terms and Conditions of Business with specications for the warranty entitlement
1.1 Notices and graphics in the installation and operating instructions
The individual hazard levels, notices and warnings are marked with signal words.
1.2 Hazard levels of warning notices
DANGER
This notice warns of an imminent danger to the life and health of people. Ignoring these notices can result in
serious injury or 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 result
in 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 personnel or that may result in material or
environmental damage. Ignoring these notices may result in slight, temporary injuries or damage to the product
or to the environment.
►You absolutely must comply with the described measures for avoiding these dangers.
ÖThe warning symbols are assigned according to the type of danger.
NOTICE
General notices contain usage tips and valuable information, but no warnings of dangers to health.
INFORMATION
This category contains useful tips for handling the product e󹱺ciently. Failure to observe will not lead to damage
to the product. This information does not include any information relevant to health and workplace safety.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-Jaw parallel gripper, electric, HRC-01/-02 series
Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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2 Safety notes
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 mounted to industrial machines and is used to hold tools.
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 its intended use and technical data. Zimmer GmbH shall
accept no liability for any damage caused by improper use.
Any use other than the intended use requires written approval from Zimmer GmbH.
Make sure that the power supply is disconnected before you install, retool or service the product.
Zimmer GmbH recommends performing maintenance tasks, renovation work or attachment work outside of the
machine's danger zone when possible.
When commissioning or testing, make sure that the product cannot be actuated by mistake.
Modications to the product, such as adding drilled holes or threads, may be made only with prior approval from
Zimmer GmbH.
The specied maintenance intervals are to be observed; also refer to the "Maintenance" section. When the
product is used under extreme conditions, the maintenance interval must be adapted.
Use of the product under extreme conditions, such as aggressive liquids and abrasive dusts, is subject to prior
approval from Zimmer GmbH.
Do not reach into the operational range of the product!
Notes and handling regulations for electrostatically sensitive components
Electrostatically sensitive components are individual components, integrated circuits or assemblies that can be
damaged by electrostatic elds or electrostatic discharge.
ÖWhen handling electrostatic components, make sure that persons, the work area and packaging are all fully
grounded!
ÖElectronic components may only be touched by persons in appropriately identied areas with conductive
ooring and only if:
• These persons are grounded by means of special bracelets.
• These persons wear shoes that are suitable and approved for the discharge of electrostatic charges.
ÖElectronic assemblies must not be brought into contact with plastics and parts of clothing that have plastic
content.
ÖElectronic assemblies may only be stored on conductive underlays.
ÖElectronic assemblies must not be installed in the vicinity of data back-up devices or monitors (monitor
distance > 100 mm).
ÖMeasurements may only be performed on electronic assemblies if:
• The measuring instrument is grounded (e.g. via a ground conductor)
• The measuring head is momentarily discharged before measuring with a oating measuring instrument.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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3 Proper use
NOTICE
The product is only to be used in its original state with its original accessories, with no unauthorized changes and
within the stipulated parameter limits and operating conditions. Any other or more extensive use is improper.
Operate the product only in compliance with the associated installation and operating instructions.
Operate the product only when it is in a technical condition that corresponds to the guaranteed parameters and
operating conditions.
Zimmer GmbH shall accept no liability for any damage caused by improper use. The operator bears sole respon-
sibility.
The product is designed exclusively for electrical operation within the stipulated parameter limits and operating conditions
at 24 V DC.
The product is designated for use in enclosed rooms for temporary gripping, handling and holding.
It is not suitable for clamping workpieces during a machining process or for direct contact with perishable goods.
Direct contact with perishable goods/food is not permitted.
4 Personnel qualication
DANGER
Intervention is not permitted and can lead to serious injuries!
ÖExclusion of liability
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: 2-Jaw parallel gripper, electric, HRC-01/-02 series
Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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5 Product description
CAUTION
Reduction of gripping force
When exible components are gripped, the gripping force of the gripper is reduced.
A reduced gripping force can lead to personal injury or material damage, because the components that are
being gripped can no longer be securely gripped and transported.
NOTICE
To ensure that the gripper jaws do not get deformed, make sure that the conguration of the gripping force and
the selection of the gripper nger length is correct.
An incorrect conguration or selection can lead to malfunction.
5.1 Possible applications
Inside gripping:
The gripper can be used for inside gripping.
Outside gripping:
The gripper can be used for outside gripping.
Inside grippingOutside 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 product.
The part number and the serial number are shown on the type plate.
►The serial number should be assigned to the project.
ÖArticle number: am
ÖSerial number: an
XXX
XX-XXXXXX
am
an
INFORMATION
Please state the serial number in the event of damage or a complaint.
Please contact Zimmer Customer Service if you have any questions.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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5.4 Criteria for use in collaborative applications
The criteria listed below justify the suitability of
the gripper for use in collaborative applications:
See adjacent illustration, gure 3and 4.
The gripper has been designed in accordance
with the specications of ISO/TS 15066.
The power of the motor in combination with the
transmission design and the pre-assembled
gripper jaws is not su󹱺cient to generate a
gripping force > 140 N upon vulnerable areas of
the body.
ÖThis only applies to the HRC-02 series.
ÖThe HRC-01 series has a higher gripping
force.
The gripping forces generated when gripping
soft objects are signicantly reduced, since the
amount of dynamic force is lowered. Compliance
with the maximum permitted gripping force
has been veried using a suitable measuring
instrument.
The gripper is engineered to be inherently safe
and is designed with rounded edges and shapes
that prevent crushing and shearing points from
being created.
3 4
1 2
Automation cell Coexistence
Cooperation Collaboration
Separated workspaces Presence detection
Shared workspacesZones of action

INSTALLATION AND OPERATING INSTRUCTIONS: 2-Jaw parallel gripper, electric, HRC-01/-02 series
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6 Function
The torque generated by the electric motor is transformed via a drive to the gripper jaws. This causes the gripper jaws to
move and increases the gripping force.
• Simple data exchange with the superordinate control system via IO-Link
• Brushless DC servomotor with an absolute encoder system
• The gripper jaws run on parallel guide rails arranged side by side
• The gripper jaws are mechanically coupled to each other
6.1 HRC-01
1Control
2Adapter ange
3Mounting and positioning
4LED display
5HRC housing
6Emergency release
Fig. 1: HRC-01 series gripper from above
1
4
3
2
5
Fig. 2: HRC-01 series gripper, emergency release
6

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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6.2 HRC-02
The gripper is equipped with a safety fuse that interrupts the power supply to the motor in the event of overcurrent, thereby,
in accordance with ISO TS 15066, preventing the permitted gripping force from being exceeded.
1IO-Link connection
2Adapter ange
3Mounting and positioning
4LED display
5HRC housing
6Emergency release
7Gripper ngers
8Safety fuse
9HRC housing attachment
bl HRC housing mounting screws
Fig. 3: HRC-02 series gripper, Molex connector
1
4
3
2
5
Fig. 1: HRC-02 series gripper from above
1
4
3
2
5
Fig. 2: HRC-02 series gripper, emergency release
6
7

INSTALLATION AND OPERATING INSTRUCTIONS: 2-Jaw parallel gripper, electric, HRC-01/-02 series
Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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Fig. 4: HRC-02 series gripper, safety fuse
8
bl
9
6.3 Electrical specications
INFORMATION
For electrical specications, please refer to our website at www.zimmer-group.com.
This data varies within the series, depending on the specic design.
Please contact Zimmer Customer Service if you have any questions.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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6.4 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.
6.5 Protection class
NOTICE
The gripper achieves protection class IP40 in all mounted positions of installation.
6.6 LED display
The colors of the LED ring reect the status of the gripper. The LED ring enables a 360° status display.
Status Function
Continuous light "TeachPosition"
Flashing Currently not assigned
Continuous light "BasePosition"
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
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.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-Jaw parallel gripper, electric, HRC-01/-02 series
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8 Installation
8.1 Safety notes
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.
CAUTION
Risk of injury in the event of unexpected movement of the gripper when the power supply is connected.
►Switch off the power supply to the gripper before all work.
►Secure the power supply against being switched on unintentionally.
►Check the power supply for any residual energy.
NOTICE
Switch off the power supply before any assembly, installation or maintenance work.
8.2 General installation information
The gripper must be installed on a mounting surface in accordance with the specications for atness.
ÖPermissible atness imperfection: 0.03
• The mounting screws are not included in the scope of delivery.
• Strength class of the mounting screws ≥ 8.8 (DIN EN ISO 4762)
• Observe the tightening torque of the mounting screws.
ÖZimmer GmbH recommends verifying the permitted load-carrying capacity of the required screw connections in
accordance with VDI 2230.
• The exact installation positions can be found on the technical data sheet on our website.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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8.3 Installing the "HRC-01" and "HRC-02" products
The gripper is mounted on the robot arm using the adapter
ange2.
Example representations of a gripper:
• HRC-01-101670
• HRC-02-093390
The following work steps must be observed during instal-
lation:
►Loosen the grub screw bn.
►Remove the adapter ange 2with the mounting screws
bo.
►Position the adapter ange 2on the robot arm using the
straight pinbm.
►Mount the adapter ange 2with the mounting screws
bo.
►Re-insert the gripper bpinto the adapter ange 2.
►Mount the gripper bpon the adapter ange 2using the
grub screws bn.
Fig. 1: HRC-02 series gripper
bm
bn
bo
bp
Fig. 2: HRC-01 series gripper
2
bm
bo
bp
bn

INSTALLATION AND OPERATING INSTRUCTIONS: 2-Jaw parallel gripper, electric, HRC-01/-02 series
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8.4 Installing the "adapter ange" product
The gripper is mounted on the robot arm using the adapter ange2, adapterbs and connecting platebr.
Example representation of a gripper: HRC-02-093677
The following work steps must be observed during installation:
►Loosen the grub screw bn.
►Remove the adapter ange 2with the mounting screws bq.
►Unscrew and remove the adapter bsand connecting plate br.
►Mount the connecting plate bron the robot arm using the mounting screws bo.
►Re-mount the adapter bsand adapter ange 2on the connecting plate brwith the mounting screws bq.
►Re-insert the gripper bpinto the adapter ange 2.
►Mount the gripper bpon the adapter ange 2using the grub screws bn.
bm
bn
bo
bp
bq
bs
2
br

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
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8.5 Installing the power supply
8.5.1 Installing the wiring
►Connect the supply cable to the gripper and the control
system.
ÖYou can nd the corresponding supply 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.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-Jaw parallel gripper, electric, HRC-01/-02 series
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8.5.2 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 for commissioning or mounting the gripper 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.
8.5.3 Installing the "STO"
PIN assignment of the power supply line:
PIN Color Function Explanation
4
2
1 3
1 Brown STO 1 Channel 1 signal line
2 - - Not assigned!
3 Blue GND sensor Sensor 0 V DC supply voltage
4 Black STO 2 Channel 2 signal line
The STO (Safe Torque OFF) safety function ensures the safe shutoff of the torques at the drive of the gripper.
The safety function must come into operation when any safety device is triggered in the environment of the human-robot
collaboration.
The STO safety function is implemented through the integrated motor control system.
INFORMATION
After the STO safety function is triggered, the gripper can only be restarted with what is called a "cold start"!
To do so, the power supply cables and the communication cables must be disconnected briey and then
reconnected.
We recommend the following procedure for performing a cold start:
►The triggering of a safety device in the environment of human-robot collaboration must be acknowledged through a
conscious action performed by a human (actuating a switch element).
►This acknowledgment must involve the disconnection and reconnection of the power supply and communication cables
to the gripper using an external circuit.
►The self-locking feature of the gearing in the gripper ensures that the gripped object is held securely during the power
and communication shutdown.
►The external programming must ensure that the most recent status of the gripper is transmitted when all signals return
and any potential object being gripped is not ejected.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-01/-02 series
19
Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
EN / 2020-09-21DDOC00416 / b
CAUTION
During a cold start, the program must ensure that the gripper cannot perform any hazardous movements.
►Danger of injury from being startled
8.5.4 Installing the "Molex connector"
PIN assignment of the power supply line:
PIN Color Function Explanation
1 Brown + 24 V DC IO-Link supply voltage
2 White + 24 V DC Additional supply voltage
3 Blue GND IO-Link
4 Black C/Q IO-Link communication
5Gray GND Additional GND
6 Brown STO 1 Channel 1 signal line
7 Blue STO GND STO 0 V
8 Black STO 2 Channel 2 signal line
The following steps must be carried out for commissioning or installing the gripper:
►Connect the gripper to the voltage supply.
►Secure the voltage supply.
ÖFor Port Class A, additional power supply via Y-cable.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-Jaw parallel gripper, electric, HRC-01/-02 series
Zimmer GmbH •Am Glockenloch 2 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
20
EN / 2020-09-21DDOC00416 / b
8.6 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.
Grounding can only be done through the gripper jaws!
8.7 Heat dissipation
In the event of high ambient temperatures, the gripper must 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.
8.8 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.