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 qualication................................................................................................................................................................ 8
5 Product description ..................................................................................................................................................................... 9
5.1 Possible applications.........................................................................................................................................................................................................10
5.2 Forces and torques............................................................................................................................................................................................................10
5.3 Type plate ...........................................................................................................................................................................................................................10
5.4 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 Self-locking mechanism ....................................................................................................................................................................................................15
7 Technical data ............................................................................................................................................................................16
7.1 Electrical specications.....................................................................................................................................................................................................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 end effector with loose part ........................................................................................................................18
10.2 Installing the energy supply ..............................................................................................................................................................................................19
10.3 Static charge ......................................................................................................................................................................................................................19
10.4 Heat dissipation .................................................................................................................................................................................................................19
10.5 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 Movement proles...............................................................................................................................................................................................24
11.4.4 WorkpieceNo .......................................................................................................................................................................................................31
11.4.5 PositionTolerance ................................................................................................................................................................................................31
11.4.6 GripForce .............................................................................................................................................................................................................32
11.4.7 DriveVelocity ........................................................................................................................................................................................................32
11.4.8 BasePosition ........................................................................................................................................................................................................32
11.4.9 ShiftPosition .........................................................................................................................................................................................................33
11.4.10 TeachPosition.......................................................................................................................................................................................................33
11.4.11 WorkPosition........................................................................................................................................................................................................33
11.4.12 StatusWord...........................................................................................................................................................................................................34
11.4.13 Diagnosis..............................................................................................................................................................................................................35
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-21/LWR50L-22
DDOC01071 / b EN / 2021-11-25
Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com
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