Zimmer HRC-03-080663 User manual

INSTALLATION
AND OPERATING
INSTRUCTIONS
HRC-03 robot-specic
Gripper, electric
DDOC00268-01
HRC-03-080663
HRC-03-086003
HRC-03-085642
HRC-03-094230/-096009
HRC-03-099455/-099400/-099507
HRC-03-101016/-100376/-100688
THE KNOW-HOW FACTORY
www.zimmer-group.com

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-03 series
2
DDOC00268-01 / f EN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[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 "WorkPosi-
tion". The value of the parameter acts in both directions.
BasePosition The "BasePosition" is the outer "JawPosition". Depending on the gripper prole, this
can also be a work position!
ShiftPosition The "ShiftPosition" is a switching position between pre-positioning and gripper move-
ment.
StatusWord In its bits, the "StatusWord" returns the most important information about the status of
the gripper to the control.
Diagnosis If an error should occur, the "Diagnosis" outputs a diagnostic code that can be com-
pared with the error list.
ActualPosition The value of the current position of the gripper [mm 100].
Error Fault, error message
DIR Direction/24V 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, electric, HRC-03 series
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DDOC00268-01 / fEN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[phone] ● [phone] ●www.zimmer-group.com
Contents
1. Supporting documents.......................................................................................................................................................4
2. Safety instructions...............................................................................................................................................................4
3. Proper use............................................................................................................................................................................4
4. Personnel qualication .......................................................................................................................................................4
5. Product description.............................................................................................................................................................4
6. Function ...............................................................................................................................................................................4
7. Installation of the electrical system....................................................................................................................................5
7.1 Installation of the wiring ...................................................................................................................................................................................5
7.2 Installation of “HRC-03-086003”......................................................................................................................................................................6
7.3 Installation of „HRC-03-080663“ ..................................................................................................................................................................... 7
7.4 Installation of “HRC-03-085642”......................................................................................................................................................................7
7.4.1 Installation of “HRC-03-085642” mechanical system ................................................................................................................................... 8
7.5 Installation of „HRC-03-094230“ + „HRC-03-099400“.................................................................................................................................... 9
7.6 Installation of „HRC-03-096009“....................................................................................................................................................................10
7.7 Insatllation of „HRC-03-099455......................................................................................................................................................................11
7.8 Installation of „HRC-03-099507......................................................................................................................................................................12
7.9 Installation of „HRC-03-101016......................................................................................................................................................................13
7.10 Installation of „HRC-03-100376“....................................................................................................................................................................14
7.11 Installation of „HRC-03-100688......................................................................................................................................................................15
8. More information ...............................................................................................................................................................16
9. Declaration of Incorporation/Conformity ........................................................................................................................16

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-03 series
4
DDOC00268-01 / f EN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[phone] ● [phone] ●www.zimmer-group.com
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 standardized installation and operating instructions (DDOC00268) contain all the information for
commissioning the gripper.
Relevant and required information for your gripper can be found in both installation and operating
instructions.
2. Safety instructions
CAUTION:
Non-compliance may result in severe injuries!
The safety instructions for the HRC-03 series can be found in the standardized installation and operat-
ing instructions (DDOC00268) under Section 2.
3. Proper use
NOTICE:
The gripper is to be used only in its original state with its original accessories, without any unautho-
rized 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 used as dened under “Proper use” in enclosed rooms to temporarily grip, handle and hold 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 qualied personnel. These personnel must
have read and understood the installation and operating instructions in full.
5. Product description
INFORMATION:
Information about the product description can be found in the standardized installation and operating
instructions (DDOC00268) or on our website.
Zimmer Customer Service is available to provide you with assistance if you have any further ques-
tions.
6. Function
INFORMATION:
Information about the function can be found in the standardized installation and operating instruc-
tions (DDOC00268) or on our website.
Zimmer Customer Service is available to provide you with assistance if you have any further ques-
tions.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-03 series
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DDOC00268-01 / fEN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[phone] ● [phone] ●www.zimmer-group.com
7. Installation of the electrical system
7.1 Installation of the wiring
►Connect the supply cable to the gripper and the control system.
ÖYou can nd the corresponding supply cable on our web-
site
Öwww.zimmer-group.com
INFORMATION:
The cables that are used by Zimmer GmbH feature a minimum bending radius of 10 x the outer diam-
eter.
This bending radius must not be undershot!
ÖAll IO-Link cables that are installed in the grippers have an outer diameter of 5 mm and thus have
a bending radius of 50 mm.
ÖFreely suspended cables must be secured to prevent excessive motion loads or pinching.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-03 series
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DDOC00268-01 / f EN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[phone] ● [phone] ●www.zimmer-group.com
7.2 Installation of “HRC-03-086003”
PIN assignment of the power supply line:
PIN Color Function Explanation
1White Analog output 0 to 10 V output
2Brown Reserve
3Green Signal 2
4Yellow Special function Button on gripper housing
5Gray + 24 V DC + 24 V DC supply voltage
6Pink Move command Input, control input, inner move command
7Blue Move command Input, control input, outer move command
8Red GND 0 V DC supply voltage
The following steps must be carried out for commissioning or installing the “HRC-03-086003” gripper:
►Connect the gripper to the voltage supply.
►Secure the voltage supply.
ÖA voltage supply between PIN 5 and PIN 8 is necessary for operation.
ÖA jaw movement is triggered by a voltage level between PIN 7 or PIN 6.
Control logic:
Movement PIN 7 (open) PIN 6 (close)
Gripper in rest mode 0 0
Open gripper 1 0
Close gripper 0 1
A movement in the desired direction occurs when the corresponding signal is at a high level. After a high level is
detected, the gripper movement occurs until the gripping process ends.
It is important to ensure that, after a movement has taken place, the corresponding signal is reset.
This must happen before a signal is carried out in the opposite direction.
A pause of 10 ms must be maintained between withdrawing the signal and the next command.
Freedrive (soft-switching the robot)
For manual soft-switching of the robot, the gripper is equipped
with a “freedrive button” (see gure on the right).
The following work steps must be observed for manually teach-
ing-in the robot position:
►Press the freedrive button to soft-switch the robot.
ÖThe robot can be moved manually.
ÖMove the robot with the gripper to the desired
position.
►Release the freedrive button .
ÖThe robot and gripper stop at their position.
ÖFor “teaching” or activating the position of the robot and
gripper in the control system, please observe the information
provided by the robot manufacturer.
ÖThe information provided by the robot manufacturer includes
details about activation.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-03 series
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DDOC00268-01 / fEN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[phone] ● [phone] ●www.zimmer-group.com
7.3 Installation of „HRC-03-080663“
PIN assignment of the power supply line:
PIN Color Function Explanation
1Brown + 24 V DC IO-Link supply voltage
2White + 24 V DC Additional supply voltage
3Blue GND IO-Link
4Black C/Q IO-Link communication
5Gray GND Additional GND
6- - -
7- - -
8- - -
The following steps must be carried out for commissioning or installing the “HRC-03-080663” gripper:
►Connect the gripper to the voltage supply.
►Secure the voltage supply.
ÖFor Port Class A, additional power supply via Y-cable.
INFORMATION:
Information about commissioning “IO-Link” can be found in the standardized installation and operat-
ing instructions (DDOC00268) under Section 8.
Zimmer Customer Service is available to provide you with assistance if you have any further ques-
tions.
7.4 Installation of „HRC-03-085642“
PIN assignment of the power supply line:
PIN Color Function Explanation
1White PWR + 24 V DC supply voltage
2Brown D_Out DIR signal
3Green GND 1 GND
4Yellow Analog Analog value
5Gray GND 2 GND
6Pink D_In1 IniBasePosition
7Blue D_In2 IniWorkPosition
8Red GND 3 GND
The following steps must be carried out for commissioning or installing the „HRC-03-085642“ gripper:
►Connect the gripper to the voltage supply.
►Secure the voltage supply.
ÖA voltage supply between PIN 1 and Pin3, 5 and 8 is necessary for operation.
ÖA jaw movement is triggered by a voltage level between PIN 2.
Control logic:
Movement PIN 2 (open)
Open gripper 0
Close gripper 1

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-03 series
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DDOC00268-01 / f EN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[phone] ● [phone] ●www.zimmer-group.com
7.4.1 Installation of “HRC-03-085642” mechanical system
The gripper cn and robot are connected to each
other by a ClickSmart plate cm.
The gripper must be installed on a mounting surface
in accordance with the levelness specications.
Length < 100 mm permitted unevenness < 0.02
mm
Length > 100 mm permitted unevenness < 0.05
mm
The following work steps must be observed during
installation:
►Fasten the ClickSmart plate cm to the gripper cn
using the mounting screws 2ain the assembly
holes 2b.
►Tighten the mounting screws 2acrosswise with
the corresponding tightening torque.
ÖA suitable screw-in depth has to be chosen for
the application.
ÖThe recommended mounting screws, M3x16, are
not included in the scope of delivery.
ÖStrength class of the mounting screws at least
8.8 ÖDIN EN ISO 4762.
ÖObserve the tightening torque of the mounting
screws.
ÖMake sure the mounting surface is su󹱺ciently
rigid and level.
ClickSmart plate:
For information about the ClickSmart plate cm, refer
to the technical data sheet from the manufacturer.
Zimmer Customer Service is available to provide you
with assistance if you have any further questions.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-03 series
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DDOC00268-01 / fEN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[phone] ● [phone] ●www.zimmer-group.com
7.5 Installation of „HRC-03-094230“ + „HRC-03-099400“
PIN assignment of the power supply line:
PIN Color Function Explanation
1White n. c.
2Brown n. c.
3Green Signal 2 Output, inner signal
4Yellow Signal 1 Output, outer signal
5Gray + 24 V DC + 24 V DC supply voltage
6Pink Move command Input, control input, outer move command
7Blue Move command Input, control input, inner move command
8Red GND 0 V DC supply voltage
The following steps must be carried out for commissioning or installing the “HRC-03-094230” gripper:
►Connect the gripper to the voltage supply.
►Secure the voltage supply.
ÖA voltage supply between PIN 5 and PIN 8 is necessary for operation.
ÖA jaw movement is triggered by a voltage level between PIN 6 or PIN 7.
Control logic:
Movement PIN 6 (open) PIN 7 (close)
Gripper in rest mode 0 0
Open gripper 1 0
Close gripper 0 1
A movement in the desired direction occurs when the corresponding signal is at a high level. After a high level is
detected, the gripper movement occurs until the gripping process ends.
It is important to ensure that, after a movement has taken place, the corresponding signal is reset.
This must happen before a signal is carried out in the opposite direction.
A pause of 10 ms must be maintained between withdrawing the signal and the next command.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-03 series
10
DDOC00268-01 / f EN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[phone] ● [phone] ●www.zimmer-group.com
7.6 Installation of „HRC-03-096009“
PIN assignment of the power supply line:
PIN Color Function Explanation
1White Signal 1 Output, outer signal
2Brown Move command Input, control input, outer move command
3Green Move command Input, control input, inner move command
4Yellow n. c.
5Gray + 24 V DC + 24 V DC supply voltage
6Pink n. c.
7Blue Signal 2 Output, inner signal
8Red GND 0 V DC supply voltage
The following steps must be carried out for commissioning or installing the “HRC-03-096009” gripper:
►Connect the gripper to the voltage supply.
►Secure the voltage supply.
ÖA voltage supply between PIN 5 and PIN 8 is necessary for operation.
ÖA jaw movement is triggered by a voltage level between PIN 2 or PIN 3.
Control logic:
Movement PIN 2 (open) PIN 3 (close)
Gripper in rest mode 0 0
Open gripper 1 0
Close gripper 0 1
A movement in the desired direction occurs when the corresponding signal is at a high level. After a high level is
detected, the gripper movement occurs until the gripping process ends.
It is important to ensure that, after a movement has taken place, the corresponding signal is reset.
This must happen before a signal is carried out in the opposite direction.
A pause of 10 ms must be maintained between withdrawing the signal and the next command.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-03 series
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DDOC00268-01 / fEN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[phone] ● [phone] ●www.zimmer-group.com
7.7 Installation of „HRC-03-099455“
PIN assignment of the power supply line:
PIN Color Function Explanation
1White GND 0 V DC supply voltage
2Brown + 24 V DC + 24 V DC supply voltage
3Green Move command Input, control input, outer move command
4Yellow Move command Input, control input, inner move command
5Gray n.c.
6Pink n.c.
7Blue Signal Output, outer signal
8Red Signal Output, inner signal
The following steps must be carried out for commissioning or installing the „HRC-03-099455“ gripper:
►Connect the gripper to the voltage supply.
►Secure the voltage supply.
ÖA voltage supply between PIN 2 and PIN 1 is necessary for operation.
ÖA jaw movement is triggered by a voltage level between PIN 3 or PIN 4.
Control logic:
Movement PIN 3 (open) PIN 4 (close)
Gripper in rest mode 0 0
Open gripper 1 0
Close gripper 0 1

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-03 series
12
DDOC00268-01 / f EN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[phone] ● [phone] ●www.zimmer-group.com
7.8 Installation of „HRC-03-099507“
PIN assignment of the power supply line:
PIN Color Function Explanation
1Brown + 24 V DC + 24 V DC supply voltage
2Blue GND 0 V DC supply voltage
3White Move command Input, control input, outer move command
4Green Move command Input, control input, inner move command
5Pink
6Yellow
7Black
8Grey
9Red
10 Lila
11 Grey/
Pink Analog output Output 0 - 10 V
12 Red/
Blue
The following steps must be carried out for commissioning or installing the „HRC-03-099507“ gripper:
►Connect the gripper to the voltage supply.
►Secure the voltage supply.
ÖA voltage supply between PIN 1 and PIN 2 is necessary for operation.
ÖA jaw movement is triggered by a voltage level between PIN 3 or PIN 4.
Control logic:
Movement PIN 3 (open) PIN 4 (close)
Gripper in rest mode 0 0
Open gripper 1 0
Close gripper 0 1

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-03 series
13
DDOC00268-01 / fEN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[phone] ● [phone] ●www.zimmer-group.com
7.9 Installation of „HRC-03-101016“
PIN assignment of the power supply line:
PIN Color Function Explanation
1Black + 24 V DC + 24 V DC supply voltage
2Grey n.c. -
3Brown Move command Input, control input Operation command*
4White Analog output Output 0 - 10 V
5Blue GND 0 V DC supply voltage
The following steps must be carried out for commissioning or installing the „HRC-03-101016“ gripper:
►Connect the gripper to the voltage supply.
►Secure the voltage supply.
ÖA voltage supply between PIN 1 and PIN 5 is necessary for operation.
ÖA jaw movement is triggered by a voltage level between PIN 3.
Control logic:
Movement PIN 3 (open)
Open gripper 0
Close gripper 1
INFORMATION:
The gripper only works with hardware release 3.0 or higher.

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-03 series
14
DDOC00268-01 / f EN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[phone] ● [phone] ●www.zimmer-group.com
7.10 Installation of „HRC-03-100376“
PIN assignment of the power supply line:
PIN Color Function Explanation
1White + 24 V DC + 24 V DC supply voltage
2Brown Signal Output, outer signal
3Green Signal Output, inner signal
4Yellow Move command Input, control input, outer move command
5Gray Move command Input, control input, inner move command
6Pink Analog output output 0 - 10 V
7Blue n.c.
8Red GND 0 V DC supply voltage
The following steps must be carried out for commissioning or installing the „HRC-03-100376“ gripper:
►Connect the gripper to the voltage supply.
►Secure the voltage supply.
ÖA voltage supply between PIN 1 and PIN 8 is necessary for operation.
ÖA jaw movement is triggered by a voltage level between PIN 4 or PIN 5.
Control logic:
Movement PIN 4 (open) PIN 5 (close)
Gripper in rest mode 0 0
Open gripper 1 0
Close gripper 0 1

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-03 series
15
DDOC00268-01 / fEN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[phone] ● [phone] ●www.zimmer-group.com
7.11 Installation of „HRC-03-100688“
PIN assignment of the power supply line:
PIN Color Function Explanation
1White GND 0 V DC supply voltage
2Brown + 24 V DC + 24 V DC supply voltage
3Green Move command Input, control input, outer move command
4Yellow Move command Input, control input, inner move command
5Gray Signal Output, outer signal
6Pink Signal Output, inner signal
7Blue Analog output output 0 - 10 V
8Red n.c.
The following steps must be carried out for commissioning or installing the „HRC-03-100688“ gripper:
►Connect the gripper to the voltage supply.
►Secure the voltage supply.
ÖA voltage supply between PIN 2 and PIN 1 is necessary for operation.
ÖA jaw movement is triggered by a voltage level between PIN 3 or PIN 4.
Control logic:
Movement PIN 3 (open) PIN 4 (close)
Gripper in rest mode 0 0
Open gripper 1 0
Close gripper 0 1

INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel gripper, electric, HRC-03 series
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DDOC00268-01 / f EN / 2019-10-24
Zimmer GmbH ●Im Salmenkopf 5 ●77866 Rheinau ●[phone] ● [phone] ●www.zimmer-group.com
8. More information
INFORMATION:
More information about the gripper can be found in the standardized installation and operating in-
structions (DDOC00268).
• Commissioning
• Operation
• Troubleshooting
• Maintenance
• Accessories/scope of delivery
• Transportation/storage/preservation
• Decommissioning and disposal
• RoHS declaration
• REACH declaration
9. Declaration of Incorporation/Conformity
INFORMATION:
The Declaration of Incorporation and/or Conformity can be found in the standardized installation and
operating instructions (DDOC00268).
Zimmer Customer Service is available to provide you assistance if you have any further questions