Inhaltsverzeichnis - Zimmer Rep2000 Montage- Und Betriebsanleitung

MONTAGE- UND BETRIEBSANLEITUNG:
Inhalt
1 Mitgeltende Dokumente .............................................................................................................................................................. 5
1.1 Hinweise und Darstellungen in der Montage- und Betriebsanleitung .............................................................................................................................5
2 Sicherheitshinweise ..................................................................................................................................................................... 6
3 Bestimmungsgemäße Verwendung ........................................................................................................................................... 7
4 Personenqualifikation .................................................................................................................................................................. 7
4.1 Elektrofachpersonal .............................................................................................................................................................................................................7
4.2 Fachpersonal........................................................................................................................................................................................................................7
4.3 Unterwiesenes Personal ......................................................................................................................................................................................................7
4.4 Servicepersonal ...................................................................................................................................................................................................................7
4.5 Zusätzliche Qualifikationen .................................................................................................................................................................................................7
5 Produktbeschreibung .................................................................................................................................................................. 8
6 Funktionsbeschreibung ............................................................................................................................................................... 8
6.1 LED-Anzeige .........................................................................................................................................................................................................................8
7 Technische Daten ........................................................................................................................................................................ 9
8 Zubehör/Lieferumfang ................................................................................................................................................................ 9
9 Transport/Lagerung/Konservierung .......................................................................................................................................... 9
10 Montage ...................................................................................................................................................................................... 10
10.1 Produkt montieren .............................................................................................................................................................................................................11
10.2 Sicheres Abschalten bei Produkten mit IO-Link ..............................................................................................................................................................12
10.3 Energiezuführung montieren ............................................................................................................................................................................................13
10.3.1 Pin-Belegung ........................................................................................................................................................................................................13
10.4 Statische Aufladung ..........................................................................................................................................................................................................13
10.5 Wärmeableitung .................................................................................................................................................................................................................13
10.6 Zubehör montieren ............................................................................................................................................................................................................14
10.6.1 Achsausgleich montieren ...................................................................................................................................................................................14
11 Inbetriebnahme .......................................................................................................................................................................... 15
11.1 Beispielcode .......................................................................................................................................................................................................................15
11.2 Zustandsmaschine ............................................................................................................................................................................................................16
11.3 Kommunikation ..................................................................................................................................................................................................................18
11.3.1 Zyklische Daten....................................................................................................................................................................................................18
11.3.1.1 Prozessdatenausgang .....................................................................................................................................................................18
11.3.1.2 Prozessdateneingang ......................................................................................................................................................................19
11.3.2 Drehmodul............................................................................................................................................................................................................19
11.3.2.1 PDO.xx.CONTROL ...........................................................................................................................................................................19
11.3.2.2 PDO.RU.COMMAND .......................................................................................................................................................................20
11.3.2.3 Fahrbefehle ......................................................................................................................................................................................20
11.3.2.4 PDO.RU.POSITION ..........................................................................................................................................................................22
11.3.2.5 PDO.RU.TORQUE ............................................................................................................................................................................23
11.3.2.6 PDO.RU.VELOCITY .........................................................................................................................................................................23
11.3.2.7 PDI.xx.STATUS .................................................................................................................................................................................23
11.3.2.8 PDI.RU.ACTUAL_POSITION ...........................................................................................................................................................24
11.3.2.9 PDI.xx.ERROR ..................................................................................................................................................................................24
11.3.2.10 PDI.xx.WARNING .............................................................................................................................................................................24
11.3.3 Greifmodul ...........................................................................................................................................................................................................25
11.3.3.1 PDO.xx.CONTROL ...........................................................................................................................................................................25
11.3.3.2 PDO.GR.COMMAND .......................................................................................................................................................................25
11.3.3.3 Fahrbefehle ......................................................................................................................................................................................25
11.3.3.4 PDO.GR.FORCE ..............................................................................................................................................................................26
Zimmer Group GmbH • Am Glockenloch 2 •  77866 Rheinau, Germany •  +49 7844 9138 0 • www.zimmer-group.com
REP2000
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