3
Zimmer GmbH •Im Salmenkopf 5 •77866 Rheinau, Germany •+49 7844 9138 0 •www.zimmer-group.com
EN / 2022-04-08DDOC00262 / c
INSTALLATION AND OPERATING INSTRUCTIONS: GEH8000
Content
1 Supporting documents ......................................................................................................................................................... 5
1.1 Notices and graphics in the installation and operating instructions .......................................................................................................................5
2 Safety notices ........................................................................................................................................................................ 6
3 Proper use ............................................................................................................................................................................. 7
4 Personnel qualication ......................................................................................................................................................... 7
5 Product description .............................................................................................................................................................. 7
5.1 Type plate .....................................................................................................................................................................................................................7
6 Functional description .......................................................................................................................................................... 8
6.1 Position measuring system of the at swivel unit .....................................................................................................................................................8
6.1.1 Single-turn absolute encoder .......................................................................................................................................................................8
6.1.2 Multiturn absolute encoder ..........................................................................................................................................................................8
7 Technical data ....................................................................................................................................................................... 9
7.1 Forces and torques .....................................................................................................................................................................................................9
7.2 Protection class ...........................................................................................................................................................................................................9
8 Accessories/scope of delivery ............................................................................................................................................. 9
9 Transportation/storage/preservation .................................................................................................................................. 9
10 Installation ............................................................................................................................................................................10
10.1 Installing the product ................................................................................................................................................................................................11
10.2 Installing connection terminal X3 .............................................................................................................................................................................11
10.3 Installing the energy supply ......................................................................................................................................................................................12
10.3.1 Connecting the battery box ........................................................................................................................................................................12
10.4 Installing accessories ................................................................................................................................................................................................13
10.5 Checking operational readiness ..............................................................................................................................................................................13
11 Commissioning ................................................................................................................................................................... 14
11.1 Initial commissioning in Easy Startup mode ...........................................................................................................................................................14
11.1.1 Setting the IP address .................................................................................................................................................................................14
11.1.2 Setting the IP address .................................................................................................................................................................................15
11.1.3 Referencing the motor encoder of the GEH8660 .....................................................................................................................................25
11.2 EtherCat function block ............................................................................................................................................................................................28
11.2.1 IndraDrive Bosch Rexroth...........................................................................................................................................................................28
11.2.2 Conguring the IndraDrive converter ........................................................................................................................................................28
11.2.3 Installing the latest ESI Device Description ...............................................................................................................................................29
11.2.4 Establishing the connection to the IndraDrive controller .........................................................................................................................29
11.2.5 Establishing the IndraDrive Ds Ethernet connection to the IndraDrive Cs controller ............................................................................35
11.3 Conguring the interface from TwinCat3 ................................................................................................................................................................36
11.3.1 Checking the startup parameters ..............................................................................................................................................................36
11.3.2 Output parameters axis PLC .................................................................................................................................................................37
11.3.3 Input parameters PLC axis ....................................................................................................................................................................38
11.3.4 Linking the interface with PLC ...................................................................................................................................................................41
11.4 Integrating blocks of the example ............................................................................................................................................................................43
11.5 Functions of the function block ................................................................................................................................................................................44
11.5.1 b_Power .......................................................................................................................................................................................................44
11.5.2 b_Automatic ................................................................................................................................................................................................44
11.5.3 b_TorqueMode ............................................................................................................................................................................................44
11.5.4 b_MoveToWorkPos .....................................................................................................................................................................................44
11.5.5 b_MoveToWorkPos_2 .................................................................................................................................................................................44
11.5.6 b_MoveToBasePos .....................................................................................................................................................................................44
11.5.7 b_SetReferencePos ....................................................................................................................................................................................44
