Zimmer MATCH LWR Series User manual

INSTALLATION AND
OPERATING
INSTRUCTIONS
2-jaw parallel gripper with IO-Link
quick-change system
LWR50L-23-00001-A
LWR50L-23-00002-A
LWR50L-23-00003-A
LWR50L-23-00004-A
DDOC01072
THE KNOW-HOW FACTORY
www.zimmer-group.com

2
Parameter explanation (glossary)
Parameter Explanation
ActualPosition Value of the current position of the product [1/100 mm]
BasePosition BasePosition is the outer jaw position. Depending on the gripper prole, this can also be a work
position.
ControlWord Activation of the product
Only one bit is permitted to be active in the word. The value "0" is also permitted.
DeviceMode Used to select gripping proles as well as the additional help modes in the product.
Diagnosis If an error occurs, outputs a diagnostic code that can be compared with the error list.
DIR Direction/24 V cable connection - Depending on the product, this signal is used to move the
product.
Error Fault
GND Abbreviation for ground connection
GripForce Setting the gripping force
Offset Correction value
PositionTolerance Tolerance range for TeachPosition, BasePosition and WorkPosition
The value of the parameter acts in both directions.
ShiftPosition ShiftPosition is a switching position between pre-positioning and gripper movement.
StatusWord In its bits, returns the most important information about the status of the product to the control
system.
Teach/Adjust Programming/Adjusting
With 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 to dene the reachable end positions of the gripper jaws.
TeachPosition Actual workpiece position
Traversing routine Dened procedure for movement of the gripper jaws
Travel path Path on which the gripper jaws travel.
WorkpieceNo Selection of the workpiece recipes stored in the product
WorkPosition Inner jaw position on the product
Depending on the application, this can also be the standby position.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

3
1 Supporting documents ............................................................................................................................................................... 5
1.1 Notices and graphics in the installation and operating instructions ...............................................................................................................................5
2 Safety notices............................................................................................................................................................................... 6
3 Proper use .................................................................................................................................................................................... 8
4 Personnel qualication................................................................................................................................................................ 8
5 Product description ..................................................................................................................................................................... 9
5.1 Possible applications.........................................................................................................................................................................................................10
5.2 Type plate ...........................................................................................................................................................................................................................10
5.3 Product variants and compatibility...................................................................................................................................................................................10
6 Functional description ............................................................................................................................................................... 11
6.1 LED status display .............................................................................................................................................................................................................12
6.2 Sensors...............................................................................................................................................................................................................................13
6.2.1 Wiring diagram sensor system ...........................................................................................................................................................................14
6.2.2 Adjust the sensors in the inspection position ...................................................................................................................................................14
6.2.3 Adjust the sensors in the storage position ........................................................................................................................................................14
6.3 Functional safety................................................................................................................................................................................................................15
6.4 Control ................................................................................................................................................................................................................................15
6.5 Veried conguration examples .......................................................................................................................................................................................15
6.6 Self-locking mechanism ....................................................................................................................................................................................................15
7 Technical data ............................................................................................................................................................................16
7.1 Electrical specications.....................................................................................................................................................................................................16
7.2 Protection class..................................................................................................................................................................................................................16
8 Accessories/scope of delivery ................................................................................................................................................. 16
9 Transportation/storage/preservation....................................................................................................................................... 16
10 Installation .................................................................................................................................................................................. 17
10.1 Installing the product.........................................................................................................................................................................................................17
10.1.1 Installing the stationary part and loose part......................................................................................................................................................18
10.2 Installing the energy supply ..............................................................................................................................................................................................19
10.3 Static charge ......................................................................................................................................................................................................................19
10.4 Installing accessories ........................................................................................................................................................................................................19
11 Commissioning ..........................................................................................................................................................................20
11.1 Process data .....................................................................................................................................................................................................................20
11.2 IODD Import .......................................................................................................................................................................................................................21
11.3 Handshake Data Transfer Method....................................................................................................................................................................................21
11.4 Parameters .........................................................................................................................................................................................................................22
11.4.1 ControlWord.........................................................................................................................................................................................................22
11.4.2 DeviceMode .........................................................................................................................................................................................................23
11.4.3 WorkpieceNo .......................................................................................................................................................................................................27
11.4.4 PositionTolerance ................................................................................................................................................................................................27
11.4.5 GripForce .............................................................................................................................................................................................................28
11.4.6 DriveVelocity ........................................................................................................................................................................................................28
11.4.7 BasePosition ........................................................................................................................................................................................................29
11.4.8 TeachPosition.......................................................................................................................................................................................................29
11.4.9 WorkPosition........................................................................................................................................................................................................29
11.4.10 StatusWord...........................................................................................................................................................................................................30
11.4.11 Diagnosis..............................................................................................................................................................................................................32
11.4.12 ActualPosition ......................................................................................................................................................................................................32
11.5 Minimum travel path ..........................................................................................................................................................................................................33
11.6 Minimum startup path .......................................................................................................................................................................................................33
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com
Content

4
11.7 Easy Startup .......................................................................................................................................................................................................................33
11.8 Quickstart Basic Parameters ............................................................................................................................................................................................34
11.9 Starting the gripping movement.......................................................................................................................................................................................35
11.10 Repeated movements in the same direction...................................................................................................................................................................35
11.11 Recipe examples "Load recipe"........................................................................................................................................................................................36
11.11.1 "Save recipe"........................................................................................................................................................................................................36
11.11.2 Loading a recipe..................................................................................................................................................................................................37
12 Operation....................................................................................................................................................................................38
12.1 Emergency release ............................................................................................................................................................................................................38
13 Gripping force charts................................................................................................................................................................. 38
14 Error diagnosis...........................................................................................................................................................................39
15 Status in LED display................................................................................................................................................................. 41
16 Maintenance............................................................................................................................................................................... 42
17 Decommissioning/disposal ...................................................................................................................................................... 42
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

5
1 Supporting documents
NOTICE
Read through the installation and operating instructions before installing or working with the product.
The installation and operating instructions contain important notes for your personal safety. They must be read
and understood by all persons who work with or handle the product during any phase of the product lifetime.
The documents listed below are available for download on our website www.zimmer-group.com.
• Installation and operating instructions
• Catalogs, drawings, CAD data, performance data
• Information on accessories
• Technical data sheets
• General Terms and Conditions, including warranty information.
ÖOnly those documents currently available on the website are valid.
In these installation and operating instructions, "product" refers to the product designation on the title page!
1.1 Notices and graphics in the installation and operating instructions
DANGER
This notice warns of an imminent danger to the life and health of people. Ignoring these notices can lead to
serious injury or even 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 cause
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 people or that may result in material or environ-
mental 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 these tips will not result in
damage to the product. This information does not include any information relevant to health or workplace safety.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

6
2 Safety notices
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 tted to industrial machines and is used to hold, transport and store workpieces.
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 these installation and operating instructions and the
product's technical data. Any changes or additions to the intended use of the product, as well as modications
to the product, such as those in the following examples, require the written permission of the manufacturer:
• Use of the product under extreme conditions, such as aggressive uids or abrasive dusts
• Additional drilled holes or threads
ÖZimmer GmbH shall accept no liability for any damage caused by improper use. The operator bears sole
responsibility.
►Make sure that the power supply is disconnected before you mount, adjust, modify, maintain or repair the
product.
►Whenever work is carried out on the product, make sure that the product cannot be actuated by mistake.
►Perform maintenance tasks, renovation work or attachment work outside of the machine's danger zone when
possible.
►Do not reach into the operational range of the product.
►Observe the specied maintenance intervals and specications regarding the quality of the operating material.
►When using the product under extreme conditions, adjust the maintenance interval according to the degree of
contamination.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

7
CAUTION
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.
►When handling electrostatic components, make sure that persons, the work area and packaging are all fully
grounded.
►Touch electronic components only in appropriately identied areas with conductive ooring and only if:
• You are grounded by means of special bracelets.
• You wear shoes that are suitable and approved for the discharge of electrostatic charges.
►Do not bring electronic assemblies into contact with plastics and parts of clothing that have plastic content.
►Store electronic assemblies on conductive underlays only.
►Do not install electronic assemblies in the vicinity of data back-up devices or monitors (monitor distance >
100 mm).
►Perform measurements on electronic assemblies only 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.
WARNING
Risk of injury caused by suspended loads
Improper handling of suspended loads can cause serious injury.
►Always keep an adequate safety distance from suspended loads.
►Never walk underneath a suspended load.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

8
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 secondary use is deemed 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.
ÖZimmer GmbH shall accept no liability for any damage caused by improper use. The operator bears sole
responsibility.
The product is designed specically for (cooperative/collaborative) use on robot systems and in combination with the
MATCH quick-change system.
The product is designed exclusively for electric operation using a 24 V DC power supply.
The product must always be mounted on materials that dissipate heat.
The product is intended for industrial use.
The product is to be used as intended in enclosed rooms for temporary gripping, handling and holding.
The product is not suitable for clamping workpieces during a machining process.
Direct contact with perishable goods/food is not permitted.
Observance of the technical data and of the notes on installation and operating instructions in these installation and
operating instructions are part of proper use.
4 Personnel qualication
Installation, commissioning and maintenance may only be performed by trained specialists. These persons must have read
and understood the installation and operating instructions in full.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

9
5 Product description
CAUTION
Reduction of the gripping force can cause personal injury and material damage
When exible components are gripped, the gripping force of the product is reduced.
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
►Make sure that the setting of the gripping force and the selection of the gripper nger length are correct to
prevent incorrect bracing of the gripper jaws.
ÖAn incorrect conguration or selection can lead to malfunction
The end-of-arm platform of Zimmer Group is equipped with an extensive portfolio of functions and with universal communi-
cation interfaces. MATCH is compatible with any lightweight construction robot. The system can be mounted to the robot
ange and set up conveniently with just a few manual adjustments.
The product is a safe quick-change system (loose part with gripper).
An electric gripper with IO-Link is installed in the product.
The basic and proven safety principles from DIN EN 13849-1 can be complied with only if original parts from Zimmer GmbH
are used.
The original parts from Zimmer GmbH required for the safety principles are:
1Stationary part (LWR50F-XX)
2Loose part with gripper (LWR50L-XX)
3Storage station (ALWR1-50-A) (sensors optional)
For the overall safety of the function, all three components (stationary part, loose part with gripper, and storage station)
must be taken into account (see "Functional Safety" section).
1
2
3
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

10
5.1 Possible applications
outside gripping inside gripping
The product can be used for outside gripping. The product can be used for inside gripping.
INFORMATION
►You can nd the information in the technical data sheet on our website.
►Please contact Zimmer Customer Service if you have any questions.
5.2 Type plate
A type plate is attached to the housing of the product. XXX
XX-XXXXXX
am
an
The article number and conrmation number are shown on the type
plate.
am Article number
an Conrmation number
5.3 Product variants and compatibility
INFORMATION
►You can nd information about product variants and their compatibility on our website.
►Please contact Zimmer Customer Service if you have any questions.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

11
6 Functional description
The gripper jaws of the product 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 by 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 product is suited for gripping a wide range of form-t and frictional t parts.
You can optionally adjust the gripping force to the workpiece by using the control system via IO-Link.
The product is equipped with a hot-plug function, which allows for the replacement of a loose part while electrically live.
The loose part is designed in such a way that incorrect insertion into the storage station is impossible.
bl
4
2
5
6
7
8
9
2Loose part for quick-change system 7Removable centering sleeve
4Rotation prevention/torque absorption 8Signal transmission
5LED display 9Locking
6Gripper jaw bl Emergency release
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

12
6.1 LED status display
bm Power/communication
bn Error
bm
bn
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

13
6.2 Sensors
Example image of a combination consisting of a stationary part, loose part with gripper, and storage station.
Check up to two sensors in the storage position to see whether the loose part is present in the storage station.
Then move the stationary part onto the loose part from above. The centering pins of the loose part help in insertion.
The robot, along with the stationary part and loose part, moves to the inspection position sensors in the storage station.
The two sensors in the inspection position (test channel) respond if the lockings are extended and make contact in the
stationary part.
When the stationary and loose part are joined, the internal spring-pin contacts for signal transmission are contacted.
Then the Connect LED changes color from red to green and a Connect signal (depending on the variant) is passed to the
higher-level control system.
bo
bp
1
9
2
3
1Fixed part 9Locking
2Loose part for quick-change system bo Sensor in storage position (loose part present)
3Storage station bp Sensor in inspection position (test channel, locking
extended)
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

14
6.2.1 Wiring diagram sensor system
Sensor plug connection M8 3-pin:
4
1 3
Graphical symbol for sensor in storage position 2 sensors in inspection position connected in series
+
-
1
3
4
Power Supply
Safety Input
+
-
1
3
4
Power Supply
Safety Input
+
-
1
3
4Safety Input
6.2.2 Adjust the sensors in the inspection
position
bo
bp
►Bring the markings on the locking elements
of the loose part to the position of the front
markings of the storage station.
►Turn in the sensors until they emit a signal.
►Fasten the sensors at this position.
►Coat the sensors with sealing lacquer.
6.2.3 Adjust the sensors in the storage
position
►Position a loose part in the storage station.
►Turn in the sensors until they emit a signal.
►Coat the sensors with sealing lacquer.
bo Sensor in storage position (loose part
present)
bp Sensor in inspection position (test
channel, locking extended)
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

15
6.3 Functional safety
For the overall safety of the function, all three components (stationary part, loose part with gripper and storage station) must
be taken into account.
The safety function that ensures secure locking between the stationary and loose part of the product is implemented via
two redundant action channels that consist of a mechanical locking and springs.
Technical supplementary safety measures (sensors) provide a high degree of diagnostic coverage. The product can thus
be classied into control category 3 in accordance with Chapter 6.2.6 of DIN EN ISO 13849-1. According to Figure 5,
Chapter 4.5.4 of the specied standard, the PL d can be achieved with this product.
Fault elimination in accordance with DIN EN ISO 13849-2, Annex A, Table A2 and A3 for the helical compression springs
used can be given.
6.4 Control
INFORMATION
►You can nd the information in the technical data sheet on our website.
►Please contact Zimmer Customer Service if you have any questions.
6.5 Veried conguration examples
INFORMATION
►You can nd the information in the technical data sheet on our website.
►Please contact Zimmer Customer Service if you have any questions.
6.6 Self-locking mechanism
INFORMATION
The product has a mechanical self-locking mechanism to ensure that the workpiece remains held by the product
in the event of power supply loss or failure (e.g. an emergency stop).
►Please contact Zimmer Customer Service if you have any questions.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

16
7 Technical data
INFORMATION
►You can nd the information in the technical data sheet on our website.
This data varies within the series, depending on the specic design.
►Please contact Zimmer Customer Service if you have any questions.
7.1 Electrical specications
INFORMATION
►You can nd the information in the technical data sheet on our website.
This data varies within the series, depending on the specic design.
►Please contact Zimmer Customer Service if you have any questions.
7.2 Protection class
NOTICE
The product achieves protection class IP40 in all mounted positions of installation.
8 Accessories/scope of delivery
INFORMATION
If any accessories not sold or authorized by Zimmer GmbH are used, the function of the product cannot be
guaranteed. Zimmer GmbH accessories are specically tailored to the individual products.
►For optional accessories and those included in the scope of delivery, refer to our website.
9 Transportation/storage/preservation
►Transport and storage of the product must be done only with the original packaging.
►If the product has already been installed on the superordinate machine unit, care must be taken during transport to
ensure that no unexpected movements can occur.
►Before commissioning the product and after transport, check all power and communication connections as well as
all mechanical connections.
►If the product is stored for an extended period, the following points are to be observed:
►Keep the storage location as dust-free and dry as possible.
►Avoid temperature uctuations/observe and adhere to the temperature range.
►Avoid wind/drafts/water condensation formation.
►Cover the product with a weatherproof, tear-resistant foil to prevent dust.
►Pack the product and do not expose it to direct sunlight during storage.
►Clean all components. There must be no soiling left on the components.
►Visually inspect all components.
►Remove all foreign substances.
►Properly remove potential corrosion spots.
►Close electrical connections using suitable covers.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

17
10 Installation
WARNING
Risk of injury due to uncontrolled movements
Risk of injury in case of unexpected movement of the machine or system into which the product is to be installed.
►Switch off the energy supply of the machine before any work.
►Secure the power supply against being switched on unintentionally.
►Check the machine for any residual energy that may be present.
CAUTION
Risk of injury due to uncontrolled movements
Risk of injury in the event of uncontrolled movement of the product when the power supply is connected.
►Switch off the power supply to the machine before carrying out any work.
►Secure the power supply against unintentional switch-on.
►Check the machine for any residual energy.
►Secure the power supply against being switched on unintentionally.
►Check the machine for any residual energy that may be present.
NOTICE
►Installation may only be carried out by qualied personnel in accordance with these installation and operating
instructions.
►Switch off the power supply before any assembly, installation or maintenance work.
10.1 Installing the product
INFORMATION
►For information, refer to the installation and operating instructions of the xed part on our website.
• LWR50F
Fasten the product on the stationary part. No assembly work is necessary for the product. The gripper is already connected
to the loose part.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

18
10.1.1 Installing the stationary part and loose part
Example image of a combination consisting of a stationary part, loose part with gripper, and storage station.
Manual exchange:
The loose part can be installed on the xed part and locked manually.
Automatic exchange:
The stationary part is moved to the loose part in the storage station and
locked by means of the storage station (see "Sensors" section).
Rotation prevention:
The design rules out incorrect joining, as the loose part is equipped with
two different bolts.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

19
10.2 Installing the energy supply
NOTICE
Installation of voltage supply is done internally. This means that the gripper or the loose part is equipped with
internal contacts. These contacts transmit all signals.
►The contacts of the energy supply must be dry, clean and undamaged at all times.
ÖDamage to the contacts can result in malfunction of the product.
10.3 Static charge
NOTICE
Non-compliance may result in material damage.
Grounding the product is recommended if ESD sensitive parts come into contact with the product.
Grounding is also recommended in applications that require high EMC shielding.
The movement of the gripper jaws creates low voltages as a result of static charging. These charges cannot be dissipated if
the product is mounted on an insulating surface and if discharge is also not possible through the workpiece.
10.4 Installing accessories
NOTICE
Before installing an accessory, make sure it is suitable for use with the selected variant.
►You can nd information on our website.
►Please contact Zimmer Customer Service if you have any questions.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

20
11 Commissioning
11.1 Process data
There is an option to control the product only with the process data that is transmitted in each cycle.
Outputs: Process data from the IO-Link master to the product!
Name Data type
ControlWord UINT16
DeviceMode UINT8
WorkpieceNo UINT8
Reserve UINT8
PositionTolerance UINT8
GripForce UINT8
DriveVelocity UINT8
BasePosition UINT16
ShiftPosition UINT16
TeachPosition UINT16
WorkPosition UINT16
Control system Gripper
Input
Output
Name Data type
StatusWord UINT16
Diagnosis UINT16
ActualPosition UINT16
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01072 / a EN / 2021-09-15
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com