Zimmer MATCH LWR50L-25 Series User manual

INSTALLATION AND
OPERATING
INSTRUCTIONS
MATCH2-jaw parallel gripper
LWR50L-24 series
MATCH 3-jaw concentric gripper
LWR50L-25 series
DDOC01073
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 Outer jaw position
Depending on the application, this can be the base position or the 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.
Error Error
GND Abbreviation for ground connection
PositionTolerance Tolerance range for TeachPosition
The value of the parameter acts in both directions.
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
Travel path Path on which the gripper jaws travel.
WorkpieceNo Selection of the workpiece recipes stored in the product
WorkPosition Inner jaw position
Depending on the application, this can be the end position or the work position.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-24/-25
DDOC01073 / - EN / 2022-07-20
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
6.1.1 Status in LED 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 Gripping force retention ...................................................................................................................................................................................................15
6.6 Veried conguration examples .......................................................................................................................................................................................16
6.7 Self-locking mechanism ....................................................................................................................................................................................................16
7 Technical data ............................................................................................................................................................................17
8 Accessories/scope of delivery .................................................................................................................................................17
9 Transportation/storage/preservation ....................................................................................................................................... 17
10 Installation ..................................................................................................................................................................................18
10.1 Installing the product .........................................................................................................................................................................................................18
10.1.1 Installing the MATCH robot module and MATCH gripper ................................................................................................................................19
10.2 Installing the energy supply ..............................................................................................................................................................................................20
10.3 Static charge ......................................................................................................................................................................................................................20
10.4 Heat dissipation .................................................................................................................................................................................................................20
10.5 Installing accessories ........................................................................................................................................................................................................20
11 Commissioning ..........................................................................................................................................................................21
11.5.1 Process data control system .............................................................................................................................................................................21
11.1 IODD Import .......................................................................................................................................................................................................................22
11.2 Handshake Data Transfer Method ....................................................................................................................................................................................22
11.3 Parameters .........................................................................................................................................................................................................................23
11.3.1 ControlWord .........................................................................................................................................................................................................23
11.3.2 DeviceMode .........................................................................................................................................................................................................24
11.3.3 WorkpieceNo .......................................................................................................................................................................................................25
11.3.4 PositionTolerance ................................................................................................................................................................................................26
11.3.5 TeachPosition .......................................................................................................................................................................................................26
11.3.6 StatusWord ...........................................................................................................................................................................................................27
11.3.7 Diagnosis ..............................................................................................................................................................................................................28
11.3.8 ActualPosition ......................................................................................................................................................................................................29
11.4 Easy Startup .......................................................................................................................................................................................................................29
11.5 Quickstart Basic Parameters ............................................................................................................................................................................................30
11.6 Starting the gripping movement .......................................................................................................................................................................................31
11.7 Repeated movements in the same direction ...................................................................................................................................................................31
11.8 Recipe examples ...............................................................................................................................................................................................................32
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-24/-25
DDOC01073 / - EN / 2022-07-20
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com
Content

4
11.8.1 Save recipe ...........................................................................................................................................................................................................32
11.8.2 Loading a recipe ..................................................................................................................................................................................................33
12 Gripping force charts .................................................................................................................................................................33
13 Error diagnosis ...........................................................................................................................................................................34
14 Table with acyclic data (ISDU) ..................................................................................................................................................36
15 Maintenance ...............................................................................................................................................................................37
16 Decommissioning/disposal ......................................................................................................................................................37
17 RoHS declaration .......................................................................................................................................................................38
18 REACH declaration .................................................................................................................................................................... 38
19 Declaration of Incorporation ..................................................................................................................................................... 39
20 Declaration of Conformity .........................................................................................................................................................40
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-24/-25
DDOC01073 / - EN / 2022-07-20
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-24/-25
DDOC01073 / - EN / 2022-07-20
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.
►Note that, due to the spring tension, you should exercise increased caution when uninstalling products with
integrated springs.
►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.
CAUTION
The product is protected and features monitoring for the temperature and maximum duration of energization.
►Observe the recommended cooling temperature in accordance with standard EN ISO 13732-1.
►Wear personal protective equipment.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-24/-25
DDOC01073 / - EN / 2022-07-20
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

7
WARNING
Health hazard due to magnetic eld
►If you wear any electronic implants, do not enter the effective range of the magnetic eld.
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.
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.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-24/-25
DDOC01073 / - EN / 2022-07-20
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 maximum operating pressure for pneumatic operation of the products is:
• 4 to 6 bar for spring variant NC, SC, NO, SO
• 3 to 8 bar for universal operation N, S
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 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-24/-25
DDOC01073 / - EN / 2022-07-20
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 MATCH End-of-Arm Ecosystem is equipped with an extensive range of functions and universal communication
interfaces. MATCH is compatible with all common lightweight robots. The system can be mounted on the robot ange and
set up with a few manual adjustments.
The product is a safe quick-change system (MATCH gripper).
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:
1MATCH robot module (LWR50F-XX)
2MATCH gripper (LWR50L-XX)
3MATCH storage station (ALWR1-50-A) (sensors optional)
For the overall safety of the function, all three components (MATCH robot module, MATCH gripper, and MATCH storage
station) must be taken into account (see "Functional Safety" section).
1
2
3
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-24/-25
DDOC01073 / - EN / 2022-07-20
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

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5.1 Possible applications
Outside gripping Inside gripping
The product can be used for outside gripping. The product can be used for inside gripping.
MoveToWork command MoveToBase command
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
In the LWR50L-24 and LWR50L-25 series, the following grippers are installed:
Product Gripper
LWR50L-24-00001-A GPP5006N-IL-10-A
LWR50L-24-00002-A GPP5006NC-IL-10-A
LWR50L-24-00003-A GPP5006NO-IL-10-A
LWR50L-24-00004-A GPP5006S-IL-10-A
LWR50L-24-00005-A GPP5006SC-IL-10-A
LWR50L-24-00006-A GPP5006SO-IL-10-A
LWR50L-25-00001-A GPD5006N-IL-10-A
LWR50L-25-00002-A GPD5006NC-IL-10-A
LWR50L-25-00003-A GPD5006NO-IL-10-A
LWR50L-25-00004-A GPD5006S-IL-10-A
LWR50L-25-00005-A GPD5006SC-IL-10-A
LWR50L-25-00006-A GPD5006SO-IL-10-A
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-24/-25
DDOC01073 / - EN / 2022-07-20
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

11
6 Functional description
The gripper jaws of the LWR50L-24 series are arranged parallel to each other on two opposing guide rails and can be
moved relative to each other.
The gripper jaws of the LWR50L-25 series are arranged on three guide rails offset to each other at a 120° angle.
They are driven by compressed air. Here, an internal pneumatic piston is moved and its stroke movement is redirected to
the jaws via a gate.
Despite its small installation space, the product is suited for gripping a wide range of form-t and frictional t parts.
The product can be easily integrated into the existing control system.
The product is equipped with a hot-plug function, which allows for the replacement of an MATCH gripper while electrically
live.
4
6
2
8
7
5
2MATCH gripper 6Gripper jaw
4Rotation prevention/torque absorption 7Signal transmission
5LED display 8Locking
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-24/-25
DDOC01073 / - EN / 2022-07-20
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

12
6.1 LED status display
9Status display
9
6.1.1 Status in LED display
Status Function
⬤⬤ ⬤ ⬤ Green LED lights up continuously. • The product is in the TeachPosition.
⬤⬤ ⬤⬤Green LED ashes every second. • Currently not assigned.
⬤ ⬤⬤ ⬤ Blue LED lights up continuously. • The product is in the BasePosition or WorkPosition.
⬤⬤ ⬤⬤Blue LED ashes every second. • Currently not assigned.
⬤ ⬤ ⬤⬤Red LED lights up continuously. • The product has a fault.
⬤ ⬤ ⬤⬤Red LED ashes every second. • No connection to the IO-Link.
⬤ ⬤⬤ ⬤ Orange LED lights up continuously. • The product is not in any dened position.
⬤⬤ ⬤⬤Orange LED ashes every second. • Currently not assigned.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-24/-25
DDOC01073 / - EN / 2022-07-20
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 MATCH robot module, MATCH gripper, and MATCH storage station.
Check up to two sensors in the storage position to see whether the MATCH gripper is present in the MATCH storage station.
Then move the MATCH robot module onto the MATCH gripper from above. The centering pins of the MATCH gripper help
in insertion.
The robot, along with the MATCH robot module and MATCH gripper, moves to the inspection position sensors in the
MATCH storage station.
The two sensors in the inspection position (test channel) respond if the lockings are extended and make contact in the
MATCH robot module.
When the MATCH robot module and MATCH gripper 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.
8
1
bl
bm
3
2
1MATCH robot module for quick-change system 8Locking
2MATCH gripper with quick-change system bl Sensor in storage position (MATCH gripper present)
3MATCH storage station bm Sensor in inspection position (test channel, locking
extended)
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-24/-25
DDOC01073 / - EN / 2022-07-20
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
bm
bl
►Bring the markings on the locking elements
of the MATCH gripper to the position of
the front markings of the MATCH 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 an MATCH gripper in the MATCH
storage station.
►Turn in the sensors until they emit a signal.
►Coat the sensors with sealing lacquer.
bl Sensor in storage position (MATCH
gripper with quick-change system
present)
bm Sensor in inspection position (test
channel, locking extended)
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-24/-25
DDOC01073 / - EN / 2022-07-20
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 (MATCH robot module, MATCH gripper and MATCH storage
station) must be taken into account.
The safety function that ensures secure locking between the MATCH robot module and MATCH gripper 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 Gripping force retention
INFORMATION
For products with integrated springs, the springs help retain the gripping force in the event of a loss of pressure or
voltage.
►Note that products with universal operation (N, S) do not feature gripping force retention.
►Please contact Zimmer Customer Service if you have any questions.
Parameter GPP5000IL/GPD5000IL series
Without spring
N/S
With spring
NC/NO/SC/SO
• Pressure failure
• Actuator voltage present
• Without pressure safety valve
No gripping force
present ⬤⬤
Spring force
present ⬤⬤
• Pressure failure
• Actuator voltage present
• With pressure safety valve
Full gripping force
present ⬤⬤
Full gripping force
present ⬤⬤
• Operating pressure present
• No actuator voltage
• Without pressure safety valve
No gripping force
present ⬤⬤
Spring force
present ⬤⬤
• Operating pressure present
• No actuator voltage
• With pressure safety valve
No gripping force
present ⬤⬤
Spring force
present ⬤⬤
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-24/-25
DDOC01073 / - EN / 2022-07-20
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

16
6.6 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.
6.7 Self-locking mechanism
INFORMATION
The product (connection between MATCH robot module and MATCH gripper) has a mechanical self-locking
mechanism to ensure that the workpiece remains held by the product in the event of a power supply failure such
as an emergency stop.
►Please contact Zimmer Customer Service if you have any questions.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-24/-25
DDOC01073 / - EN / 2022-07-20
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

17
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.
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-24/-25
DDOC01073 / - EN / 2022-07-20
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

18
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.
WARNING
Risk of injury from crushing
Removing the cover of the wedge hook transmission results in a crushing hazard between the gripper jaws.
Crushing injuries can result from the gripping process.
►Make sure that there are no parts of the body in the range of movement of the product!
►Only permit installation, maintenance and servicing work to be carried out by trained personnel.
►Do installation, maintenance and servicing work in manual jog mode only.
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 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 MATCH robot module on our website.
• LWR50F
Fasten the product on the MATCH robot module. No assembly work is necessary for the product. The end effector is
already connected to the loose part.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-24/-25
DDOC01073 / - EN / 2022-07-20
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

19
10.1.1 Installing the MATCH robot module and MATCH gripper
Example image of a combination consisting of a MATCH robot module, MATCH gripper, and MATCH storage station.
Manual exchange:
The MATCH gripper can be installed on the MATCH robot module and
locked manually.
Automatic exchange:
The MATCH robot module is moved to the MATCH gripper in the MATCH
storage station and locked by means of the MATCH storage station (see
"Sensors" section).
Rotation prevention:
The design rules out incorrect joining, as the MATCH gripper is equipped
with two different bolts.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-24/-25
DDOC01073 / - EN / 2022-07-20
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com

20
10.2 Installing the energy supply
NOTICE
Installation of voltage supply is done internally. This means that the MATCH gripper 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
CAUTION
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 Heat dissipation
In the event of high ambient temperatures, the product must be installed on heat-dissipating materials.
If the product is operated under very high ambient temperatures and with fast clock cycles on an ongoing basis, this might
reduce its service life.
INFORMATION
ÖThe cycle time must therefore be reduced as the temperature increases.
10.5 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-24/-25
DDOC01073 / - EN / 2022-07-20
Zimmer GmbH • Im Salmenkopf 5 •  77866 Rheinau, Germany •  [phone] • www.zimmer-group.com