Zimmer HRC-01 Series User manual

INSTALLATION AND
OPERATING INSTRUC-
TIONS
HRC01 series
Gripper, electric
DDOC00271
THE KNOW-HOW FACTORY
www.zimmer-group.com

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DDOC00271 / d EN / 3/31/2020
Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
Parameter explanation (glossary)
Parameter Explanation
ControlWord
The gripper is controlled with 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 applica-
tion, 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 "WorkPosi-
tion." 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 move-
ment.
StatusWord In its bits, the "StatusWord" returns the most important information about the status of
the gripper to the control.
Diagnosis If an error should occur, the "Diagnosis" outputs a diagnostic code that can be com-
pared 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
LED Light-emitting diode
HRC Human-robot collaboration

INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
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DDOC00271 / d
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Zimmer GmbH ● Im Salmenkopf 5 ● 77866 Rheinau, Germany ●[phone] ● [phone] ● www.zimmer-group.com
Contents
1. Supporting documents.......................................................................................................................................................5
2. Safety notes .........................................................................................................................................................................5
3. Proper use............................................................................................................................................................................6
4. Personnel qualication .......................................................................................................................................................6
5. Product description.............................................................................................................................................................6
5.1 Possible applications........................................................................................................................................................................................6
5.2 Forces and torques...........................................................................................................................................................................................6
5.3 Type plate .........................................................................................................................................................................................................7
5.4 Criteria for use in collaborative applications .................................................................................................................................................. 7
6. Function ...............................................................................................................................................................................8
6.1 Technical data ...................................................................................................................................................................................................8
6.2 LED display .......................................................................................................................................................................................................9
6.2.1 "IO-Link" LED display ........................................................................................................................................................................................9
6.3 Fused conguration........................................................................................................................................................................................10
6.4 Protection classes...........................................................................................................................................................................................10
6.5 Technical data .................................................................................................................................................................................................10
6.6 Self-locking mechanism .................................................................................................................................................................................10
7. Installation..........................................................................................................................................................................10
7.1 Safety notes.....................................................................................................................................................................................................10
7.2 Installing the mechanical system...................................................................................................................................................................10
7.2.1 General installation information .....................................................................................................................................................................10
7.2.2 Installing the HRC-01 gripper with external cable gland..............................................................................................................................11
7.2.3 Installing HRC-01 gripper with internal cable gland.....................................................................................................................................12
7.3 Installing the gripper ngers ..........................................................................................................................................................................13
7.4 Function of the safety gripper jaws.....................................................................................................................................................................14
7.4.1 Safety function not triggered A .....................................................................................................................................................................14
7.4.2 Safety function triggered B ............................................................................................................................................................................14
7.5 Installing the "IO-Link" power supply line......................................................................................................................................................15
7.6 Installing the "STO" power supply line...........................................................................................................................................................15
7.7 Static charge ...................................................................................................................................................................................................16
7.8 Heat dissipation...............................................................................................................................................................................................16
7.9 Installing accessories .....................................................................................................................................................................................16
8. Commissioning..................................................................................................................................................................17
8.1 Commissioning the IO-Link ............................................................................................................................................................................17
8.1.1 Process data....................................................................................................................................................................................................17
8.1.2 IODD import ....................................................................................................................................................................................................18
8.2 "Handshake" data transfer method................................................................................................................................................................18
8.3 Parameters ......................................................................................................................................................................................................19
8.3.1 "ControlWord" parameter ...............................................................................................................................................................................19
8.3.2 Movement proles ..........................................................................................................................................................................................20
8.3.3 "WorkpieceNo" parameter..............................................................................................................................................................................24
8.3.4 "PositionTolerance" parameter.......................................................................................................................................................................25
8.3.5 "GripForce" parameter....................................................................................................................................................................................25
8.3.6 "DriveVelocity" parameter...............................................................................................................................................................................26
8.3.7 "BasePosition" parameter...............................................................................................................................................................................26
8.3.8 "ShiftPosition" parameter ...............................................................................................................................................................................26
8.3.9 "TeachPosition" parameter .............................................................................................................................................................................27
8.3.10 "WorkPosition" parameter ..............................................................................................................................................................................27
8.3.11 "StatusWord" parameter.................................................................................................................................................................................28
8.3.12 "Diagnosis" parameter ....................................................................................................................................................................................29
8.3.13 "ActualPosition" parameter ............................................................................................................................................................................29
8.4 "Cold start".......................................................................................................................................................................................................30

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INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
8.5 Minimum travel path .......................................................................................................................................................................................30
8.6 Referencing by "Homing" ..............................................................................................................................................................................30
8.6.1 "DeviceMode" 10.............................................................................................................................................................................................31
8.6.2 "DeviceMode" 14.............................................................................................................................................................................................31
8.6.3 "DeviceMode" 16.............................................................................................................................................................................................32
8.6.4 "DeviceMode" 17.............................................................................................................................................................................................33
8.7 Interruption of the power supply....................................................................................................................................................................34
8.8 "Easy Startup"..................................................................................................................................................................................................34
8.9 Start of data transmission ..............................................................................................................................................................................34
8.10 "Quickstart" basic parameters .......................................................................................................................................................................35
8.11 Starting gripping movement ..........................................................................................................................................................................36
8.12 Repeated movements in the same direction ................................................................................................................................................36
8.13 Recipe examples.............................................................................................................................................................................................37
8.13.1 "Store recipe"...................................................................................................................................................................................................37
9. Operation ...........................................................................................................................................................................38
9.1 Emergency release of HRC-01 series............................................................................................................................................................38
10.Gripping force charts ........................................................................................................................................................38
11.Table with acyclic data (ISDU)..........................................................................................................................................39
12.Error diagnosis ..................................................................................................................................................................40
13.Maintenance ......................................................................................................................................................................42
14.Accessories/scope of delivery.........................................................................................................................................42
15.Transportation/storage/preservation ..............................................................................................................................42
16.Decommissioning and disposal.......................................................................................................................................42
17.Declaration of Incorporation.............................................................................................................................................43
18.Declaration of Conformity.................................................................................................................................................44

INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper 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 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 specialists
in accordance 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, acci-
dent prevention 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.The suitability of the gripper for collaborative use can only be veried while using gripper ngers
installed in factory condition. If different gripper jaws are used or if the original gripper jaws are mod-
ied, compliance with the maximum force and pressure values permitted for collaborative operation
must be veried once again.
12.Do not reach into the operational range of the gripper!

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INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper 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 electric operation using a supply voltage of 24 VDC.
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 trained specialists. These personnel must
have read and understood the installation and operating instructions in full.
5. Product description
NOTICE:
To ensure that the gripper jaws do not get deformed, care must be taken to ensure 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.
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
Inside gripping:
The gripper can be used for inside
gripping.
Outside gripping:
The gripper can be used for outside
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.
Inside grippingOutside gripping

INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
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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 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 questions.
5.4 Criteria for use in collaborative applications
The criteria listed below are the basis for the suitability of the
gripper for use in collaborative applications:
ÖSee 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 transmis-
sion design and the pre-assembled gripper jaws is not su󹱺-
cient to generate a gripping force > 140 N upon vulnerable
areas of the body. 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.
XXX
XX-XXXXXX
dl
dm
3 4
1 2

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INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
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 superordinate control system via IO-Link
• Brushless DC servomotor with absolute encoder system
• Mechanical self-locking mechanism
• The gripper jaws run on parallel guide rails arranged side by side
• The gripper jaws are mechanically coupled to each other
• The gripper ngers are equipped with safety gripper jaws that have a gripping force of up to 140 N for HRC applica-
tions. (IMPORTANT: The HRC-01 series is available with and without safety gripper jaws).
Fig. 1: HRC-01 gripper series (Example HRC-01-072797)
1
2
4
3
5
1Control
2Mounting and positioning
3LED display
4Connecting plate
5Emergency release
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 questions.

INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
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6.2 LED display
6.2.1 "IO-Link" 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
On continuously "TeachPosition"
Flashing Currently not assigned
On continuously "BasePosition"/"WorkPosition"
Flashing Currently not assigned
On continuously The gripper has a fault
Flashing No IO-Link connection available
On continuously Gripper is in an undened position
Flashing Currently not assigned

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INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
6.3 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.
6.4 Protection classes
NOTICE:
The gripper achieves protection class IP40 in all mounted positions of installation.
6.5 Technical data
INFORMATION:
For information on 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.
6.6 Self-locking mechanism
INFORMATION:
The gripper has a mechanical self-locking mechanism to ensure that the workpiece remains held by the
gripper in the event of power supply failure (such as an emergency stop).
Zimmer Customer Service is available to provide you with assistance if you have any further questions.
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 Installing the mechanical system
7.2.1 General installation information
NOTICE:
The LED strips must be perfectly ush with each other before tightening the grub screws ("IO-Link").
Non-compliance may result in material damage.
INFORMATION:
The gripper is adjusted to the installation condition on the robot using various ange variants and adapt-
er plates. All of the installation materials required for this are included with delivery.
Zimmer Customer Service is available to provide you with assistance if you have any further questions.
7.2.2 Installing the HRC-01 gripper with external cable gland

INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
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4
2b
2
a
6
6
7
8
bm
bl
9
The gripper must be installed on a mounting surface in accordance with the atness specications.
ÖDiameter < 100 mm  permitted atness imperfection < 0.02 mm
ÖDiameter > 100 mm  permitted atness imperfection < 0.05 mm
ÖA suitable screw-in depth has to be chosen for the application.
ÖMounting screws are 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 level.
►Unscrew and remove the two mounting screws 6on the underside of the gripper.
►Remove the connecting plate 4with the mounting screws 2band the straight pin 2aby pulling them up
and out.
►Unscrew and remove the four mounting screws 7on the underside of the gripper.
►Separate the upper part of the housing 8from the gripper and the bottom part of the housing 9.
ÖIn the process, unplug the connector for the LED strip.
►Push the upper part of the housing 8onto the robot arm and the connecting plate 4.
ÖIn the process, note the position of the groove bm.
►Mount the connecting plate 4on the robot arm using the four mounting screws 2bon the robot arm.
►Reposition the gripper on the connecting plate 4.
ÖIn the process, plug in the connector for the LED strip.
ÖGuide the cables for IO-Link and the STO safety function through the opening bl in the upper part
of the housing 8.
►Using the two mounting screws 6, secure and mount the gripper on the connecting plate 4.
►Mount the upper part of the housing 8and the lower part of the housing 9using the four mounting screws
7.

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INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
7.2.3 Installing HRC-01 gripper with internal cable gland
INFORMATION:
The grippers do not have to be dismantled for installation on a robot.
bn
The gripper must be installed on a mounting
surface in accordance with the atness specica-
tions.
ÖDiameter < 100 mm  permitted atness im-
perfection < 0.02 mm
ÖDiameter > 100 mm  permitted atness im-
perfection < 0.05 mm
ÖA suitable screw-in depth has to be chosen for
the application.
ÖMounting screws are 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 level.
►Unscrew the three grub screws bn.
►Take off the connecting plate 4by lifting it up.
►Position the connecting plate 4on the robot arm using the straight pin 2a.
►Mount the connecting plate 4on the robot arm using the four mounting screws 2bon the robot arm.
►Position the grippers so that the locking bolts bo can be guided into the associated holes in the connecting
plate 4.
ÖThe locking bolts bo are arranged asymmetrically on the lower connecting plate bp so that the
gripper can only be installed in one position on the upper connecting plate 4.
►Secure the gripper to prevent it from falling.
►Screw the three grub screws bn back in and tighten them.
ÖDuring installation, the cables for IO-Link and the STO safety function must be routed in a centered
position through the connecting plates and into the robot.
4
2b
2a
bo
bp

INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
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7.3 Installing the gripper ngers
bt
br
bs
bu
9
7
INFORMATION:
Before installing the gripper ngers, make sure they are of a suitable length for the selected gripper
variant.
ÖMounting screws are 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.
The following work steps need to be performed to install the gripper ngers:
►Unscrew and remove the four mounting screws 7on the underside of the gripper.
►Pull out the lower part of the housing 9.
►Insert centering sleeves bs into the provided matching parts on the gripper jaws bu.
►Position the gripper ngers bt on the gripper jaws bu using the centering sleeves bs.
►Fasten the gripper ngers bt to the gripper jaws bu using the three mounting screws br.

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INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
7.4 Function of the safety gripper jaws
INFORMATION:
The safety gripper jaws are an integral component of the design to be used in human-robot collabora-
tion. The safety gripper jaws are always installed and sealed at the factory. For safety-related reasons, the
customer is not permitted to perform installation or adjustment procedures.
7.4.1 Safety function not triggered A
• The movable part of the safety gripper jaws cn
is xed in place by the trigger mechanism co.
• A spring cr in the trigger mechanism deter-
mines the force at which the safety function is
triggered.
• The safety gripper jaws are installed on the grip-
per jaws with centering sleeves and mounting
screws cm
• The installation holes for the gripper ngers are
located on the safety gripper jaws cl
7.4.2 Safety function triggered B
• The gripping force has exceeded the permitted
limit value.
• The oat cq of the trigger mechanism is
pushed down when this happens.
• As a result, the entire trigger mechanism co is
pushed down.
• The spring plunger cp snaps into a perforated
strip and prevents further hazardous move-
ments.
Reset:
►De-energize the gripper
►Push the moving part of the safety gripper jaw
cn back into its initial position A.
►Reconnect the gripper to the voltage supply
and open it briey so that the trigger mecha-
nism co with the spring plunger cp can separate from the perforated strip again.
CAUTION:
The elements of the safety gripper jaws crucially determine the safety function and are therefore sealed.
Their conguration must not be changed.
Movement of the safety gripper jaws must not be impaired by other machine parts!
►Risk of injury
►Malfunction
cq
cr
cp
co
cm
cl cn
A
cq
cp
co
cl
B

INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
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7.5 Installing the "IO-Link" supply line
PIN assignment of the power supply line:
PIN Color Function Explanation
1Brown Sensor + 24 V DC Power supply for IO-Link communication
2White Actuator + 24 V
DC Actuator supply voltage
3Blue GND sensor Sensor 0 V DC supply voltage
4Black 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, ensure additional power supply via a Y-cable.
7.6 Installing the "STO" supply line
PIN assignment of the power supply line:
PIN Color Function Explanation
1Brown STO 1 Channel 1 signal line
2- - Not assigned!
3Blue GND Sensor 0 V DC supply voltage
4Black 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 hu-
man-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 communica-
tion 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 sig-
nals return and any potential object being gripped is not ejected.
CAUTION:
During a cold start, the program must ensure that the gripper cannot perform any hazardous move-
ments.
►Danger of injury from being startled
3
21
45
4
2
1 3

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INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
7.7 Static charge
Many different non-conductive parts move around in the gripper. The resulting static charges generate a low level
of voltage.
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:
Grounding the gripper attachment is recommended if parts sensitive to electrostatic discharge come into
contact with the gripper.
7.8 Heat dissipation
In high ambient temperatures and when working with a high cycle frequency, the gripper has to be installed on
heat-dissipating materials or heat dissipation must be ensured through the connection to the robot. Using thermal
paste for installation on a robot arm can prevent the buildup of heat.
7.9 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: HRC01 electric gripper series
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8. Commissioning
8.1 Commissioning the IO-Link
8.1.1 Process data
There is an option to control the gripper only with the process data that is transmitted in each cycle.
Outputs: Process data from the IO-Link master to the gripper!
Name Data type
ControlWord UINT 16
DeviceMode UINT 8
Workpiece No. UINT 8
Reserve UINT 8
PositionTolerance UINT 8
GripForce UINT 8
DriveVelocity UINT 8
BasePosition UINT 16
ShiftPosition UINT 16
TeachPosition UINT 16
WorkPosition UINT 16
Name Data type
StatusWord UINT 16
Diagnosis UINT 16
ActualPosition UINT 16
Gripper
Input
Control system
Edition

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INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
8.1.2 IODD import
►Importing the IODD (device description) into the control system.
ÖCall up our website at Öwww.zimmer-group.com
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 acyclic service data with
a cycle time of 5 ms.
8.2 "Handshake" data transfer method
All process data that is transferred to the gripper and is described in the sections that follow must be transferred
using the "handshake" method.
INFORMATION:
This method is referred to as a "handshake" because it enables "clean" transfer.
The process data transfer takes place, so to speak, from "hand to hand" - from the control system to the
gripper.
The following steps are required for the "handshake":
The data transfer starts with the transfer of "ControlWord" = 0x01 to the gripper.
Subsequently, the response of the gripper must be tested by means of "Statusbit" 12 = TRUE (data trans-
fer OK).
Following this, the "ControlWord" = 0 can be sent, which ends the data transfer.
The operator automatically concludes the data transfer with the "ControlWord" = 0x00 and the corre-
sponding response from the gripper via the "Statusbit" 12 = FALSE .

INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
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8.3 Parameter
8.3.1 "ControlWord" parameter
NOTICE:
In the "ControlWord" parameter, only one single bit or the value 0 may be set at a time. Only the values
listed in the following table are valid:
Parameter Decimal value Hexadecimal value
Data transfer 1 0 x 1
WritePDU 2 0 x 2
ResetDirectionFlag 4 0 x 4
Teach 8 0 x 8
Teach 128 0 x 80
MoveToBase 256 0 x 100
MoveToWork 512 0 x 200
Name "ControlWord"
Data format UINT16
Permission Write
Transfer Cyclical
Value range 0 to 65535
"ControlWord" structure:
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Byte 1 - - - - - - "MoveToWork" "MoveToBase"
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte 0 "Teach" - - - - "ResetDirection-
Flag" "WritePDU" "Datatransfer"
Bit 0: "Datatransfer"
►Setting this bit causes the gripper to accept the data transmitted in the process data ("Workpiece-
No" = 0) or the data stored in the workpiece data records ("WorkpieceNo = 1 to 32) as the active
data set.
Bit 1: "WritePDU"
►Setting this bit communicates to the gripper that it should write the current process data to the
selected tool recipe.
Bit 2: "ResetDirectionFlag"
►Setting this bit informs the gripper that the direction ag needs to be reset.
►This makes a repeated movement to a position possible.
►This is logical during a switchover of workpiece recipes.
INFORMATION:
This only works if there is no "0" that is transmitted in the workpiece number!

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INSTALLATION AND OPERATING INSTRUCTIONS: HRC01 electric gripper series
Bit 3: "Teach"
►Setting this bit informs the gripper to save the current position as the "TeachPosition" in the select-
ed "WorkpieceNo".
Bit 8: "MoveToBase"
►Setting this bit communicates to the gripper that it should move towards the "BasePosition".
Bit 9: "MoveToWork"
►Setting this bit communicates to the gripper that it should move towards the "WorkPosition".
INFORMATION:
For further information, please refer to the "Error diagnosis" section.
8.3.2 Movement proles
"PositionProle"
The gripper moves into the "PositionProle" using this mode.
The movement speed is congured using the "DriveVelocity" parameter.
The "TeachPosition" does not have any signicance in this mode because the "BasePosition" or "WorkPosition" is
always approached precisely.
If the gripper encounters an obstacle in this mode while moving, it stops and issues an error message.
The gripper can be moved from the obstacle back to the starting position if the command is switched in the
"ControlWord."
No dened gripping forces can be generated in this mode. As a result, friction-locked gripping is not permitted in
this mode.
"DeviceMode" Action "ControlWord"
50 Move to "BasePosition". 0x100
50 Move to "WorkPosition". 0x200
51
Move to "BasePosition".
Special movement prole for a faster movement of the gripper. The gripper
must never be jammed, i.e. neither be at the end stop nor have gripped a
workpiece.
0x100
51
Move to "WorkPosition".
Special movement prole for a faster movement of the gripper. The gripper
must never be jammed, i.e. neither be at the end stop nor have gripped a
workpiece.
0x200
DriveVelocity [%]
BasePosition [1/100 mm]0-Point WorkPosition [1/100 mm]