Zimmer HRC-04 Series User manual

INSTALLATION AND
OPERATING INSTRUC-
TIONS
HRC-04 series
Gripper, hybrid
DDOC00269
THE KNOW-HOW FACTORY
www.zimmer-group.com

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
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DDOC00269 / d EN / 3/31/2020
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
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 "WorkPositi-
on." 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 mo-
vement.
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: 2-jaw parallel gripper, hybrid, HRC-04 series
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DDOC00269 / dEN / 3/31/2020
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 Electrical specications....................................................................................................................................................................................9
6.2 LED display .....................................................................................................................................................................................................10
6.2.1 „IO-Link“ LED display ....................................................................................................................................................................10
6.3 Veried conguration......................................................................................................................................................................................11
6.4 Protection classes...........................................................................................................................................................................................11
6.5 Technical data .................................................................................................................................................................................................11
6.6 Self locking mechanism .................................................................................................................................................................................11
7. Installation..........................................................................................................................................................................12
7.1 Safety notes.....................................................................................................................................................................................................12
7.2 Installing the mechanical system...................................................................................................................................................................12
7.2.1 General installation information....................................................................................................................................................12
7.2.2 Installing the “IO-Link“ ...................................................................................................................................................................13
7.2.3 Installing the „IO-Link“ with adapter plate....................................................................................................................................14
7.3 Installing the electrical system .......................................................................................................................................................................15
7.3.1 Installing the wiring .......................................................................................................................................................................15
7.3.2 Installing the pneumatic system ...................................................................................................................................................16
7.3.3 Installing the “IO-Link“ ...................................................................................................................................................................16
7.4 Static charge ...................................................................................................................................................................................................16
7.5 Heat dissipation...............................................................................................................................................................................................16
7.6 Installing accessories .....................................................................................................................................................................................17
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 Parameter ........................................................................................................................................................................................................19
8.3.1 „ControlWord“ parameter .............................................................................................................................................................19
8.3.2 „DeviceMode“ parameter..............................................................................................................................................................20
8.3.3 „WorkpieceNo“ parameter ............................................................................................................................................................20
8.3.4 „PositionTolerance“ parameter .....................................................................................................................................................21
8.3.5 „TeachPosition“ parameter............................................................................................................................................................21
8.3.6 „StatusWord“ parameter ...............................................................................................................................................................22
8.3.7 „Diagnosis“ parameter ..................................................................................................................................................................23
8.3.8 “ActualPosition” parameter ...........................................................................................................................................................23
8.4 „Cold boot“......................................................................................................................................................................................................23
8.5 Minimum travel path .......................................................................................................................................................................................23
8.6 “Easy Startup”.................................................................................................................................................................................................24
8.6.1 Program example: “Easy Startup” HRC-04 series ......................................................................................................................24
8.7 Starting gripping movement ..........................................................................................................................................................................25
8.8 Program example: Repeated movement in the same direction..................................................................................................................25
8.8.1 Program example: „Save recipe“..................................................................................................................................................26
8.9 Program example: „Load recipe“ ..................................................................................................................................................................27

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
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DDOC00269 / d EN / 3/31/2020
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
9. Gripping force charts ........................................................................................................................................................28
10.Troubleshooting.................................................................................................................................................................29
11.Maintenance ......................................................................................................................................................................31
12.Accessories/scope of delivery.........................................................................................................................................31
13.Transportation/storage/preservation ..............................................................................................................................31
14.Decommissioning and disposal.......................................................................................................................................31
15.RoHS declaration ..............................................................................................................................................................32
16.REACH declaration ...........................................................................................................................................................32
17.Declaration of Incorporation.............................................................................................................................................33
18.Declaration of Conformity.................................................................................................................................................34

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
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Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
DDOC00269 / dEN / 3/31/2020
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 depen-
ding 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 modi-
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!

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
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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 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
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.
Outside gripping

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DDOC00269 / dEN / 3/31/2020
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 transmissi-
on 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.
CAUTION:
The operating pressure must not exceed the specied value!
You can nd the operating pressure in the technical data sheet on our website.
A safety valve must be used to limit the operating pressure.
►Higher operating pressure causes higher forces.
►Risk of injury!
XXX
XX-XXXXXX
dl
dm
3 4
1 2

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
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6. Function
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. The force of the motor is transmitted over a worm drive. A pinion and a rack generate the
movement of the gripper jaws and synchronize these movements.
Despite its small installation space, the gripper is qualied for the gripping of a wide range of form t and frictional t
parts and can easily be integrated into the existing control system. The gripping force can be adapted optimally to the
workpiece conditions.
You can optionally adjust the gripping force onto the workpiece by means of the integrated potentiometer or over the
control system via IO-Link. The gripper can be controlled like a valve via I/O ports or via IO-Link. Both versions are easy
to integrate into the control system.
Fig. 1: Gripper series HRC-04 with central cable gland
1Control
2Mounting and positioning
3LED display/plastic ring
4Gripper jaws
5Power supply (pneumatic)
1
2
3
4
5

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
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DDOC00269 / dEN / 3/31/2020
Fig. 2: Gripper series HRC-04 with lateral cable gland
6.1 Electrical specications
INFORMATION:
For information on electrical specications, 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.
1Control
2Mounting and positioning
3LED display/plastic ring
4Gripper jaws
5Power supply (pneumatic)
5
1
2
3
4

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
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DDOC00269 / d EN / 3/31/2020
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
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 undened position
Flashing Currently not assigned

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
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DDOC00269 / dEN / 3/31/2020
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.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
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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:
LED ring must be perfectly ush with each other before tightening the grub screws (“IO-Link”).
Non-compliance may result in material damage.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
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DDOC00269 / dEN / 3/31/2020
7.2.2 Installing the “IO-Link“
HRC-04-072809 HRC-04-072810
The gripper and the robot are connected to each other via an adapter ange.
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.
The following work steps must be observed during installation:
►Unscrew the four grub screws 5 and withdraw the adapter ange 6from the gripper housing.
► Position the adapter ange 6 on the robot head or media ange using the straight pin 2a.
► Mount the adapter ange 6on the robot head or media ange using the mounting screws 2b.
► Reinsert the gripper in the adapter ange 6. ÖWhile doing so, observe the positions of the straight pin 9
or of the centering device 8and the LED ring 3.
►Screw the four grub screws 8into the drilled holes 7again and tighten.
2
1
3
2
5
6
7
9
8
a
b
1
2
3
2
b
5
7
6
9
8
a

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
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7.2.3 Installing the „IO-Link“ with adapter plate
HRC-04-080644
The gripper and the robot are connected to each other via an
adapter plate.
The gripper must be installed on a mounting surface in accor-
dance 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 applica-
tion.
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.
The following work steps must be observed during installation:
►Position the adapter plate bm on the robot using
the straight pin 2b.
►Mount the adapter plate bm on the robot using
the mounting screws 2a.
►Unscrew the four grub screws 5and withdraw
the adapter ange 6from the gripper housing.
► Position the adapter ange 6on the reducer for
the adapter plate bm or the media ange using
the straight pin 2b.
► Mount the adapter ange 6on the adapter pla-
te bm or media ange using the mounting screws
2a.
►Position the adapter plate bm or media ange on
the adapter plate bl using the straight pin 2a.
► Reinsert the gripper into the adapter ange 6.
►Screw in the four grub screws 5again and
tighten.
ÖThe adapter plate bm of the robot ange has a
pitch circle diameter of 50 mm.
2
b
1
6
5
bl
2
2
2
bm
2
a
a
b
b

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7.3 Installing the electrical system
7.3.1 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!
►All 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.
►Freely suspended cables must be secured to prevent excessive motion loads or pinching.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
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7.3.2 Installing the pneumatic system
►Connect the power supply line to the gripper and the safety
valve.
CAUTION:
The operating pressure must not exceed the specied value!
You can nd the operating pressure in the technical data sheet on our website.
A safety valve must be used to limit the operating pressure.
►Higher operating pressure causes higher forces.
►Risk of injury!
7.3.3 Installing the “IO-Link“
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 installation of the gripper with IO-Link:
• Connect the gripper to the IO-Link master.
• Secure the voltage supply.
►For Port Class A, additional power supply via Y-cable.
7.4 Static charge
The movement of the gripper jaws create low voltages as a result of static charging. These charges cannot be dis-
sipated if the gripper is installed on an insulated surface and discharge is also not possible through the workpiece.
NOTICE:
Non-compliance may result in property damage
Grounding the gripper attachment / gripper jaws is recommended if ESD-sensitive parts come into cont-
act with the gripper.
7.5 Heat dissipation
In the event of high ambient temperatures, the gripper has to be installed on heat-dissipating materials.

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7.6 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.
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
TeachPosition UINT 16
Reserve UINT 8
PositionTolerance UINT 8
Name Data type
Status UINT 16
Diagnosis UINT 16
ActualPosition UINT 16
Gripper
Input
Control system
Edition

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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 acyclical 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 corres-
ponding response from the gripper via the “Statusbit” 12 = FALSE .

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
19
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DDOC00269 / dEN / 3/31/2020
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
Adjust 128 0 x 80
MoveToBase 256 0 x 100
MoveToWork 512 0 x 200
ErrorReset 32768 0x8000
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 “Error
Reset” ----- "MoveToWork" "MoveToBase"
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Byte 0 "Adjust" - - - "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.
Bit 3: „Teach“
►Setting this bit informs the gripper to save the current position as the „TeachPosition“ in the selec-
ted „WorkpieceNo“.
INFORMATION:
This only works if there is no „0“ that is transmitted in the workpiece number!

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, hybrid, HRC-04 series
20
DDOC00269 / d EN / 3/31/2020
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau, Germany ●[phone] ● [phone] ●www.zimmer-group.com
Bit 7: „Adjust“
►If no other bit is set in the control word, the „AdjustBit“ can be used to execute a readjustment of
the end positions of the jaw.
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“.
Bit 15: “ErrorReset”
►This bit can be used to acknowledge all errors that can be reset and thus reset them.
► You can nd out whether an error is present from the error list.
INFORMATION:
For further information, please refer to the „Error diagnosis“ section.
8.3.2 „DeviceMode“ parameter
The „DeviceMode“ can be used to select one of the following travel mode options: universal operation, outside
gripping and inside gripping.
Input Mode Description
100 Universal mode Inside and outside gripping, both movements at the
same speed.
Name "DeviceMode"
Data format UINT8
Permission Write
Transfer Cyclical
Value range 100
8.3.3 „WorkpieceNo“ parameter
This workpiece number is used for selecting the previously stored workpiece data and also for selecting the
„WorkpieceNo“ data record in which the current process data is stored.
This „WorkpieceNo“ data set enables individual workpieces to be taught-in to the gripper very quickly.
INFORMATION:
An example of a code can be found in the „Quickstart Basic Parameters“ section (recipe examples).
Ö“Store recipe“ and „Load recipe“
The corresponding workpiece recipe is loaded in the gripper with a value > 0.
Name "WorkpieceNo"
Data format UINT8
Permission Write
Transfer Cyclical
Value range 0 to 32