Zimmer startZ User manual

www.zimmer-group.de
INSTALLATION AND
OPERATING
INSTRUCTIONS
startZ
Universal Robot
DDOC01095
THE KNOW-HOW FACTORY

INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots
Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
2
EN / 2020-11-30DDOC01095 / 0
Contents
1 Supporting documents......................................................................................................................................................... 4
1.1 Hazard levels of warning notices ...............................................................................................................................................................................4
2 Safety notices ........................................................................................................................................................................ 5
3 Proper use ............................................................................................................................................................................. 5
4 Personnelqualication ......................................................................................................................................................... 6
5 Product description .............................................................................................................................................................. 6
6 Function ................................................................................................................................................................................. 7
6.1 ComfortAppontherobotcontrolpanel ...................................................................................................................................................................7
6.2 Technicaldata..............................................................................................................................................................................................................7
7 Installation.............................................................................................................................................................................. 8
7.1 Installingthehardwarecomponents .........................................................................................................................................................................8
7.2 General installation information .................................................................................................................................................................................9
7.3 Installingthemechanicalsystem .............................................................................................................................................................................10
7.3.1 Installing GEH6000IL ..................................................................................................................................................................................10
7.3.2 Installing HRC-02.........................................................................................................................................................................................11
7.4 Installingthepowersupply.......................................................................................................................................................................................12
7.4.1 SCM pin assignment...................................................................................................................................................................................12
7.4.2 Installingthestandardwiring .....................................................................................................................................................................13
7.4.3 InstallingtheSCM .......................................................................................................................................................................................13
7.4.4 Pinassignmentoftherobotcontroller ......................................................................................................................................................14
7.5 HMI/URCaps software download ............................................................................................................................................................................15
7.6 SettinguptheEthernetconnection .........................................................................................................................................................................15
7.7 ConguringtheIO-LinkgripperwiththeSCM........................................................................................................................................................16
8 CommissioningtheSCM.................................................................................................................................................... 17
8.1 ConnectingwiththeSCM.........................................................................................................................................................................................17
8.2 SelectingthegripperinguideZmode.....................................................................................................................................................................18
8.3 Switchingonthemotorandreferencing .................................................................................................................................................................19
8.4 Selectingthedesiredgrippingdirection .................................................................................................................................................................20
8.5 Teaching-intheworkpiece........................................................................................................................................................................................21
8.6 Settingtheworkpiecetolerance ..............................................................................................................................................................................22
8.7 Settingtheopenposition..........................................................................................................................................................................................23
8.8 Settingthegrippingforce .........................................................................................................................................................................................24
8.9 Settingthespeedforopeningthegripper ..............................................................................................................................................................25
8.10 Checkingthesettings ...............................................................................................................................................................................................26
8.11 Savingtherecipe.......................................................................................................................................................................................................27
8.12 Endofsavingthedata ..............................................................................................................................................................................................28
8.13 monitorZmode..........................................................................................................................................................................................................29
8.14 expertZmode ............................................................................................................................................................................................................30
8.15 TestingthegripperwithSCM...................................................................................................................................................................................31
9 CommissioningtheSCM/HMIsoftware............................................................................................................................ 32
9.1 Switchingontherobot..............................................................................................................................................................................................32
9.2 ZimmerComfortURCap/USBstick.........................................................................................................................................................................33
9.3 Newgripperconguration........................................................................................................................................................................................36
9.3.1 Selectingtheconnection............................................................................................................................................................................36
9.3.2 ControllerI/O:Numberofgrippers ...........................................................................................................................................................36
9.3.3 ControllerI/O:Gripperseries ....................................................................................................................................................................37
9.3.4 ControllerI/O:Commandconnections.....................................................................................................................................................37
9.3.5 ControllerI/O:Statusconnections............................................................................................................................................................38
9.3.6 ControllerI/O:Manualcontrol ...................................................................................................................................................................40
9.3.7 ControllerI/O:Savingthegripperconguration......................................................................................................................................42

INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots
3
Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
EN / 2020-11-30DDOC01095 / 0
9.3.8 ControllerI/O:Adjustingtheconnectionassignment .............................................................................................................................42
9.4 RobotcoldstartaftersuccessfulZimmerinstallation............................................................................................................................................47
10 Operation.............................................................................................................................................................................49
10.1 Zimmergrippercontrolprinciple .............................................................................................................................................................................49
10.2 Overviewofgeneratedrobotcommands................................................................................................................................................................50
10.3 Exampleoftheuseofgeneratedrobotjobs...........................................................................................................................................................52
11 Troubleshooting .................................................................................................................................................................. 52
12 Accessories/scopeofdelivery........................................................................................................................................... 52
13 Decommissioning/disposal ............................................................................................................................................... 52

INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots
Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
4
EN / 2020-11-30DDOC01095 / 0
1 Supporting documents
NOTICE
Readthroughtheinstallationandoperatinginstructions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lifetime.
Thedocumentslistedbelowareavailablefordownloadonourwebsitewww.zimmer-group.com:
• Detailed 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.
1.1 Hazard levels of warning notices
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!
• The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!
• The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!
• The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andworkplace
safety.

INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots
5
Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
EN / 2020-11-30DDOC01095 / 0
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mountedonindustrialmachines.
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itsintendeduseandtechnicaldata.ZimmerGmbHshall
acceptnoliabilityforanydamagecausedbyimproperuse.
AnyuseotherthantheintendeduserequireswrittenapprovalfromZimmerGmbH.
Makesurethatthepowersupplyisdisconnectedbeforeyouinstall,retoolorservicetheproduct.
ZimmerGmbHrecommendsperformingmaintenancetasks,renovationworkorattachmentworkoutsideofthe
machine'sdangerzonewhenpossible.
►Whencommissioningortesting,makesurethattheproductcannotbeactuatedbymistake.
►Modicationstotheproduct,suchasaddingdrilledholesorthreads,maybemadeonlywithpriorapproval
fromZimmerGmbH.
►Thespeciedmaintenanceintervalsaretobeobserved;alsorefertothe"Maintenance"section.Whenthe
productisusedunderextremeconditions,themaintenanceintervalmustbeadapted.
►Useoftheproductunderextremeconditions,suchasaggressiveliquidsandabrasivedusts,issubjectto
priorapprovalfromZimmerGmbH.
►Donotreachintotheoperationalrangeoftheproduct!
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.
ZimmerGmbHshallacceptnoliabilityforanydamagecausedbyimproperuse.Theoperatorbearssolerespon-
sibility.
TheZimmerstartZboxbasicallyincludesaZimmergripper,theSCMnecessaryforactuationandtheappropriateUR
softwareaswellastheaccessoriesandconnectionmaterial.
TheSmartCommunicationModule(SCM)istheintelligentgatewaybetweentheIO-Linkgrippersandthedigitalrobot
inputsandoutputs.Itmayonlybeusedintheoriginalconditionwithitsoriginalaccessories,withoutunauthorizedchanges
andwithitsdenedparametersforuse.
Useoutsideofthedenedparametersisnotpermitted.Unauthorizedelectricalormechanicalmodicationsmustnotbe
made.
TheSCMisintendedexclusivelyforelectricoperationusinga24VDCpowersupply.
TheZimmerComfortURCapisusedwiththePolyscopebyUniversalRobotstodirectlycontrolZimmergrippers.Control
meansthemanualandembeddeduseofthegripperinthenormalrobotsequence.
Directcontactwithperishablegoods/foodisnotpermitted.

INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots
Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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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.
Forunderstandingtheseinstallationandoperatinginstructions,itisimportanttobefamiliarwithandunderstandthe
manualsfromUniversalRobotsaswellastheinstallationandoperatinginstructionsoftheZimmergrippersused.
Moreinformationaboutthegripperingreaterdetailcanbefoundintheassociatedinstallationandoperatinginstructions.
5 Product description
Inprinciple,withthetwoproductsSCMandtheZimmerComfortApp,startZfromZimmerenablestheuseofamaximum
oftwoZimmerIO-Linkgrippers.
ThesegrippersmustbeinstalledonthetoolangeoftherobotandconnectedtotheSCM.
Asarule,thefollowingproductsfromZimmerGmbHcancurrentlybeoperated.Ifnecessary,thesuppliedgrippercan
thereforebereplacedwiththeproductsbelowatanytimetosuittheapplication,withoutsignicantlychangingtheuse.
BasicIO-Linkgripper AdvancedIO-Linkgripper
GEP2xxxIL GEH6xxxIL
GEP5xxxIL GED6xxxIL
GED5xxxIL HRC-01
GPP5xxxIL HRC-02
GPD5xxxIL
HRC-03
HRC-04
HRC-05
TheZimmerComfortAppcaninteractivelycallupanumberofrobotjobs,dependingonthecongurationandconnection
used.
Ifonlyonegripperisusedbytherobot,asecondgripperdoesnothavetobecongured.
ForthecontroloftheIO-LinkgripperfromtherobotcontrolviaZimmerComfortAppitisnecessarytousetheSCM.
TheSCMisavailableatZimmerGmbHandpartofthestartZbox.ItisanelectronicmoduleforthetranslationofIO-Link
signalsintosimple,digitalinputsandoutputs,inwhichprocessintheSCMthebehaviorofthegripperistrained.

INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots
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Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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6 Function
Theimagebelowshowstheschematicstructureoftheoverallsystem.AllnecessarypartsforthisareincludedinthestartZ
boxandcanbeobtainedasneededalsoindividuallyorinadifferentcombinationatZimmerGmbH.
Thefollowingoverviewpresentstheoverallsystemstructure:
expertZ guideZ monitorZ
1 2 3 4 5 6 7 ><
–R
X
B
Y
T
Z
–
–
+
+
+
R
X
B
Y
T
Z
E
M
E
R
G
E
N
C
Y
S
T
O
P
4 5
9
6
1 2 3
87
IsClosed
Reset MotorOn WP_00
< >
WP_01 WP_02
Error
Act_WP_00
IsReleased
Grip Release
Gripper 1: Manual control
IsGripped OnUndefinedPos
MotorOn
Act_WP_01
IO-Link connection cable
5 m M12 connecting cable 5x0.34
(max. cable length 10 m)
IO-Link - digital I/O
Zimmer Group SCM
Comfort App
24 V voltage supply
Temporary
Ethernet connection
Digital I/O
Robot control system
INFORMATION
BeforeactuationoftheIO-LinkgripperbytheSCM,thegrippingapplicationmustbetrainedintheSCM.Forthis
purpose,downloadtheZG_IO_LINK_HMIsoftwareandinstallonaWindowsPC.
6.1 Comfort App on the robot control panel
TheComfortApp,coordinatedtotherobotmanufacturer,makesitpossibletoactuateandoperatethegripperconveniently
anddirectlyusingtherespectiverobotcontrolpanel.Setupmodeandallnecessarycommandsforhitch-freeautomatic
mode.
6.2 Technical data
INFORMATION
Technicaldatacanbefoundonourwebsitewww.zimmer-group.com.
PleasecontactZimmerCustomerServiceifyouhaveanyquestions.

INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots
Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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EN / 2020-11-30DDOC01095 / 0
7 Installation
7.1 Installing the hardware components
Exampledepictionofaninstalledgripperwithadapterplate,cableandVelcrotape:
Extension cable
M12, 5-pin
KAG500IL

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7.2 General installation information
WARNING
Riskofinjuryincaseofunexpectedmovementofthemachineorsystemintowhichthegripperistobeinstalled.
►Switchoffthepowersupplytothemachinebeforeallwork.
►Securethemachineagainstbeingswitchedonunintentionally.
►Checkthemachineforanyresidualenergy.
CAUTION
Riskofinjuryintheeventofunexpectedmovementofthegripperwhenthepowersupplyisconnected.
►Switchoffthepowersupplytothegripperbeforeallwork.
►Securethepowersupplyagainstbeingswitchedonunintentionally.
►Checkthepowersupplyforanyresidualenergy.
NOTICE
Switchoffthepowersupplybeforeanyassembly,installationormaintenancework.
Thegrippermustbeinstalledonamountingsurfaceinaccordancewiththespecicationsforatness.
ÖPermissibleunevenness:0.03mm
• Mountingscrewsareincludedinthescopeofdelivery.
• Strengthclassofthemountingscrews≥8.8(DINENISO4762)
• Observethetighteningtorqueofthemountingscrews.
• Theexactinstallationpositionscanbefoundonthetechnicaldatasheetonourwebsite.

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7.3 Installing the mechanical system
7.3.1 Installing GEH6000IL
Examplerepresentationofthegripperinstallation:
Thegripperismountedtotherobotusingthe
baseandadapterplate.
Ö10.25Nm(4xM6mountingscrews4/
adapter plate 2)
Ö3.0Nm(2xM4gripper/adapterplate2)
Ö3.0Nm(1xM4grippernger)
Thefollowingworkstepsmustbeobserved
duringinstallation:
►Positiontheadapterplate2onthe
gripper1.
ÖThealignmentiscarriedoutusingthe
centering pin 3.
►A󹱺xtheadapterplate2ontherobotusing
themountingscrews4.
►Positionthegripper5ontheadapterplate
2.
ÖThealignmentiscarriedoutusingthetwo
centering pins 6.
►Fixthegripper5withthemountingscrews
7totheadapterplate2.
Thereistheoptionofmountingthegripper
ngersintwopositions.
Thismeansthatthegrippercanbeusedfor
inside and outside gripping.
ÖThegripperngersmustalwaysbemounted
mirroringeachother.
1
2
3
4
5
6
7

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7.3.2 Installing HRC-02
Examplerepresentationofthegripperinstallation:
Thegripperismountedtotherobotusingthe
baseandadapterange.
Ö10.25Nm(4xM6mountingscrews4/
adapterange2)
Ö1.3Nm(2xM3grippernger)
Ö6.0Nm(grubscrews8)
Thefollowingworkstepsmustbeobserved
duringinstallation:
►Unscrewthegrubscrews8.
►Removetheadapterange2withthe
mounting screws 4.
►Positionandaligntheadapterange2using
thestraightpin3ontherobot1.
►Mounttheadapterange2withthe
mounting screws 4.
►Re-insertthegripper5intotheadapter
ange2.
►Mountthegripper5ontheadapterange
2usingthegrubscrews8.3
8
4
5
1
2

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7.4 Installing the power supply
7.4.1 SCM pin assignment
Status
Anschluss Ethernet
IO-Link 1 / X1
IO-Link 2 / X2
Versorgung / X3
Status
X4
Digital Input
X5
X6
Digital Output
X7
X8 / Versorgung
12
34
56
12
34
56
12
34
56
13 14
15 16
17 18
78
910
11 12
12
34
56
78
910
11 12
12
34
56

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7.4.2 Installing the standard wiring
INFORMATION
Ifthepre-assembledconnectorsareused,thegripper,robotandSCMarewiredasstandard.
Withoutconnectors,thegripper,robotandSCMmustbereconguredinaccordancewiththeSCMinstallation
and operating instructions.
ÖTheSCMinstallationandoperatinginstructionscanbefoundinourdownloadarea.
PleasecontactZimmerCustomerServiceifyouhaveanyquestions.
7.4.3 Installing the SCM
7.4.3.1 Standard wiring
ÖThepinassignmentoftherobotDIOscanbefoundintheinstallationandoperatinginstructionsoftheUniversalRobot.
ÖThepinassignmentoftheSCMcanbefoundintheDDOC00734installationandoperatinginstructions.
ÖTheseinstallationandoperatinginstructionscanbedownloadedtogetherwiththeZG_IO_LINK_HMIsoftware.

1 ... 2 Greifer
POWER
DI
DO
24V
E|0
24V
E|1
24V
S|0
24V
S|1
Safety
12V
GND
ON
OFF
Remote
PWR
GND
24V
0V
Power
0V
24V
D|8 D|9
D|10 D|11
Digital Inputs
24V
CI0
24V
CI1
24V
CI2
24V
CI3
Congurable Inputs
24V
CI4
24V
CI5
24V
CI6
24V
CI7
0V
CO0
0V
CO1
0V
CO2
0V
CO3
Congurable Outputs
0V
CO4
0V
CO5
0V
CO6
0V
CO7
24V
DI0
24V
DI1
24V
DI2
24V
DI3
Digital Inputs
24V
DI4
24V
DI5
24V
DI6
24V
DI7
0V
DO0
0V
DO1
0V
DO2
0V
DO3
Digital Outputs
0V
DO4
0V
DO5
0V
DO6
0V
DO7
AG
A|0
AG
A|1
AG
AO0
AG
AO1
Analog
POWER DI0 - DI7 DO0 - DO7
DI4 - DI7
DI0 - DI3
DO4 - DO7
DO0 - DO3
TheeasiestwaytousethegripperwiththeComfortAppisbyusingthestandardwiring.
ThestandardwiringcorrespondstothestandardcongurationintheZimmerComfortURCapsoftwareandallowsforfast,
easyinstallationofthegripperontherobot.
However,itispossibletochangethestandardwiring.
OnereasonforchangingiswhentherobotDIOsarealreadyusedforadifferentexternalapplication.
AnotherreasonfordeviatingfromthestandardcongurationisiffullfunctionalityoftheSCMisrequiredandthereare
enoughavailableI/Osintherobotcabinetandthesegripperfunctionscanbeassigned.

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7.4.4 Pin assignment of the robot controller
►ConnecttheSCMtotherobotcontrollerwiththeveconnectors(labeled).
ÖTherobotmustbede-energizedforthis.
ÖTodothis,removetheoriginalconnectorsoftherobot.
►MounttheSCMintherobotcabinetwiththeadhesivestrips.
TherespectivegrippercannowbeconnectedtotheSCMusingtheincludedcable.
ÖThen,switchontherobottosupplytheSCMwithpower.
24V
E|0
24V
E|1
24V
S|0
24V
S|1
Safety
12V
GND
ON
OFF
Remote
PWR
GND
24V
0V
Power
0V
24V
D|8 D|9
D|10 D|11
Digital Inputs
24V
CI0
24V
CI1
24V
CI2
24V
CI3
Congurable Inputs
24V
CI4
24V
CI5
24V
CI6
24V
CI7
0V
CO0
0V
CO1
0V
CO2
0V
CO3
Congurable Outputs
0V
CO4
0V
CO5
0V
CO6
0V
CO7
24V
DI0
24V
DI1
24V
DI2
24V
DI3
Digital Inputs
24V
DI4
24V
DI5
24V
DI6
24V
DI7
0V
DO0
0V
DO1
0V
DO2
0V
DO3
Digital Outputs
0V
DO4
0V
DO5
0V
DO6
0V
DO7
AG
A|0
AG
A|1
AG
AO0
AG
AO1
Analog
POWER DI0 - DI7 DO0 - DO7
DI4 - DI7
DI0 - DI3
DO4 - DO7
DO0 - DO3

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7.4.4.1 Customer-specic wiring
Customer-specicwiringwithfullfunctionalityoftheSCMispossiblebyusingotherI/OsintheUniversalRobotscontrol
cabinetandattachingthemtothefreepinsoftheSCM.
ÖExpandsthenumberofworkpiecerecipestoupto15pieces.
INFORMATION
PleasecontactZimmerCustomerServiceifyouhaveanyquestions.
7.5 HMI/URCaps software download
EverystartZboxisdeliveredwithadigitalZdocumentincludingadownloadcode.
The"ZG_IO_LINK_HMI"softwareanditsdocumentationaswellastheZimmerComfortAppwithdocumentationand
programexamplescanbedownloadedviatheURLorQRcodebelow.
Carryoutthefollowingpoints:
• Installthesoftware/"ZG_IO_LINK_HMI"setuponaWindowsPC(Windows7orlater).
• Download"zimmerDigital-urcap"inthe"UR_Comfort_App"folderandcopytoaUSBstick.
http://cloud.zimmer-group.com/url/zimmerstarzur
Password:ZimmerStarZUR2020
7.6 Setting up the Ethernet connection
Onlythe"lower"Ethernetconnection(greenbox–gure,chapter7.4.1)isactiveandisconnectedtoacomputerforcong-
urationoftheSCM.
Thefactorysettinghereisasfollows:
• IPaddress:10.0.0.5
• Subnetmask:255.0.0.0
►Adjustyournetworkcardandchecktherewall.
Carryoutthefollowingsteps:
• ClickontheWindowssymbolonyourdesktop(bottomleft).
• Thenclickonthe"Settings"symbol.
ÖTheWindowssettingswindowopens.
• Clickon"NetworkandInternet."
ÖThenetworkstatusappears.
• Clickon"WindowsFirewall"or"NetworkandSharingCenter."
• "WindowsFirewall":
ÖSettingoftherewall.
ÖIndicateswhoandwhatisallowedtoaccessyournetworks.
►Clickononeofthethreeselectionoptions:
• Domainnetwork
• Privatenetwork
• Publicnetwork

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• "NetworkandSharingCenter"
ÖSettingofthenetwork.
►Clickon"Setupanewconnectionornetwork."
ÖTheconnectionoptionsappear.
►Clickon"Setupanewnetwork"andfollowtheinstructionsonyourPC.
7.7 Conguring the IO-Link gripper with the SCM
ConguretheIO-LinkgripperwiththeSCMinaccordancewiththefollowingchapter8.
AllworkpiecerecipesmustbetaughtintoguideZintheSCM.
However,atleastworkpiecerecipeno.1mustbeassignedwithataught-inworkpieceinSCM.

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8 Commissioning the SCM
IftheSCMiswiredcorrectly,thedesiredgrippersareconnectedandthevoltagesupplyisswitchedon,thedevicerst
starts up.
Forthisprocess,thePOWERLEDsrstbrieylightupgreen,thenstatus1/2ashonthebasemoduleaslongasthe
grippersarebeingsearchedfor(dependingonthelastsavedcongurationontheSCM).
8.1 Connecting with the SCM
ConnectthecomputertotheinstalledZimmerHMIsoftware"ZG_IO_Link_HMI"inversion2.0.1.22orlater.
Thethreecontrollevelsarelocatedatthetopleftinthesoftwarewindow:
• expertZ:Expertlevelwhereallgripperdatacanbeaccessed.
• guideZ:Congurationlevelwherethegrippercanbetaughttothedesiredworkpiece.
• monitorZ:Diagnosticandobservationlevelformonitoringthegripperduringoperation.

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8.2 Selecting the gripper in guideZ mode
ClickonthedesiredgrippertostarttheguideZfunction.
ThefollowinggraphicshowsaGEH6000seriesgripperthatistaughttotheworkpiece.

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8.3 Switching on the motor and referencing
IntheguideZprocess,progressisdisplayedbythewhitebarinthelowerareaofthewindow.
Ontherightinthewindow,thegreenpowersupplyLEDshowswhethertheactuatorvoltageisconnected.
OnlywhentheLEDlightsupgreeninthebottomrightofthewindowcanthe buttonbeusedtoproceedtothenext
step.
Inthiscase,thegrippermotorisstillswitchedoff.
ÖSwitchonthemotorwithoneofthetworeferencerunbuttons.
ÖThisalsoreferencesthegrippertowardstheoutsideorinside.
Ifthemotorisswitchedon,youcanjumptothenextstep.

INSTALLATION AND OPERATING INSTRUCTIONS: startZ Universal Robots
Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •[phone] • [phone] •www.zimmer-group.com
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EN / 2020-11-30DDOC01095 / 0
8.4 Selecting the desired gripping direction
Selecttherequiredordesiredgrippingdirection(outsideorinsidegripping).
Dependingontheselection,thecorrespondingappropriateparametersaresetinthegripperautomatically.
Outside gripping Inside gripping