Zimmer Match LWR50L-23-00005-A Manual de usuario
INSTALLATION AND
OPERATING
INSTRUCTIONS
2-jaw parallel gripper with
quick-change system
LWR50L-23-00005-A
LWR50L-23-00006-A
LWR50L-23-00007-A
LWR50L-23-00008-A
DDOC01273
THE KNOW-HOW FACTORY
www.zimmer-group.com
2
Parameter explanation (glossary)
Parameter Explanation
ActualPosition Value of the current position of the product [1/100mm]
BasePosition BasePosition is the outer jaw position. Depending on the gripper prole, this can also be a 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 proles 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.
DIR Direction/24V cable connection - Depending on the product, this signal is used to move the
product.
Error Fault
GND Abbreviation for ground connection
GripForce Setting the gripping force
Offset Correction value
PositionTolerance Tolerance range for TeachPosition, BasePosition and WorkPosition
The value of the parameter acts in both directions.
ShiftPosition ShiftPosition is a switching position between pre-positioning and gripper movement.
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 dene the reachable end positions of the gripper jaws.
TeachPosition Actual workpiece position
Traversing routine Dened procedure for movement of the gripper jaws
Travel path Path on which the gripper jaws travel.
WorkpieceNo Selection of the workpiece recipes stored in the product
WorkPosition Inner jaw position on the product
Depending on the application, this can also be the standby position.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01273 / b EN / 2021-11-25
Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • 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 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
5.5 Use in applications ............................................................................................................................................................................................................11
6 Functional description ............................................................................................................................................................... 12
6.1 LED status display .............................................................................................................................................................................................................13
6.2 Sensors...............................................................................................................................................................................................................................14
6.2.1 Wiring diagram sensor system ...........................................................................................................................................................................15
6.2.2 Adjust the sensors in the inspection position ...................................................................................................................................................15
6.2.3 Adjust the sensors in the storage position ........................................................................................................................................................15
6.3 Functional safety................................................................................................................................................................................................................16
6.4 Control ................................................................................................................................................................................................................................16
6.5 Veried conguration examples .......................................................................................................................................................................................16
7 Technical data ............................................................................................................................................................................17
7.1 Electrical specications.....................................................................................................................................................................................................17
7.2 Protection class..................................................................................................................................................................................................................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 stationary part and end effector with loose part ........................................................................................................................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
11.1 Restart ................................................................................................................................................................................................................................21
11.2 Switching sequence ..........................................................................................................................................................................................................21
11.3 Switching sequence for teaching in the end position.....................................................................................................................................................22
11.3.1 "Adjust" movement ..............................................................................................................................................................................................22
11.4 Minimum travel path ..........................................................................................................................................................................................................22
12 Operation....................................................................................................................................................................................23
12.1 Adjustable gripping force..................................................................................................................................................................................................23
12.2 Emergency release ............................................................................................................................................................................................................24
13 Gripping force charts................................................................................................................................................................. 24
14 Status in LED display................................................................................................................................................................. 25
15 Maintenance............................................................................................................................................................................... 26
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01273 / b EN / 2021-11-25
Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com
Content
4
16 Decommissioning/disposal ...................................................................................................................................................... 26
17 RoHS declaration....................................................................................................................................................................... 27
18 REACH declaration.................................................................................................................................................................... 27
19 Declaration of Incorporation ..................................................................................................................................................... 28
20 Declaration of Conformity ......................................................................................................................................................... 29
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01273 / b EN / 2021-11-25
Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • 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 eciently. 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-23
DDOC01273 / b EN / 2021-11-25
Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • 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 qualied 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 modications
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.
►Observe the specied maintenance intervals and specications regarding the quality of the operating material.
►When using the product under extreme conditions, adjust the maintenance interval according to the degree of
contamination.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01273 / b EN / 2021-11-25
Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com
7
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 identied 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.
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.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01273 / b EN / 2021-11-25
Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • 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 specically 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 24V DC power supply.
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 qualication
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-23
DDOC01273 / b EN / 2021-11-25
Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • 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 conguration or selection can lead to malfunction
The end-of-arm platform of Zimmer Group is equipped with an extensive portfolio of functions and with universal communi-
cation interfaces. MATCH is compatible with any lightweight construction robot. The system can be mounted to the robot
ange and set up conveniently with just a few manual adjustments.
The product is a safe quick-change system (end effector with loose part).
An electric digital gripper is installed in the product.
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:
1Stationary part (LWR50F-XX)
2End effector with loose part (LWR50L-XX)
3Storage station (ALWR1-50-A) (sensors optional)
For the overall safety of the function, all three components (stationary part, end effector with loose part, and storage station)
must be taken into account (see "Functional Safety" section).
1
2
3
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01273 / b EN / 2021-11-25
Zimmer GmbH • Im Salmenkopf 5 • 77866 Rheinau, Germany • +49 7844 9138 0 • www.zimmer-group.com
10
5.1 Possible applications
outside gripping inside gripping
The product can be used for outside gripping. The product can be used for inside gripping.
5.2 Forces and torques
INFORMATION
►You can nd the information in the technical data sheet on our website.
►Please contact Zimmer Customer Service if you have any questions.
5.3 Type plate
A type plate is attached to the housing of the product. XXX
XX-XXXXXX
am
an
The article number and conrmation number are shown on the type
plate.
am Article number
an Conrmation number
5.4 Product variants and compatibility
INFORMATION
►You can nd information on our website.
►Please contact Zimmer Customer Service if you have any questions.
INSTALLATION AND OPERATING INSTRUCTIONS: LWR50L-23
DDOC01273 / 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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3
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