INSTALLATION AND

OPERATING
INSTRUCTIONS
GEH6000IL/GED6000IL series
Gripper, electric

DDOC00212

THE KNOW-HOW FACTORY

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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

Parameter explanation (glossary)

Parameter Explanation
The gripper is controlled with the "ControlWord".
ControlWord The "ControlWord" is bit-exclusive, which means that only one bit at a time can be
active in the "Word". The value "NULL" is also permitted.
The "DeviceMode" is used to select gripping profiles as well as the additional help
DeviceMode
modes in the gripper.
Using this parameter, workpiece recipes stored in the gripper can be selected or
Workpiece No.
saved.
TeachPosition The "TeachPosition" is the actual workpiece position.
The "WorkPosition" is the inner jaw position on the gripper. Depending on the
WorkPosition
application, for example with internal grippers, this can also be the standby position.
GripForce The "GripForce" parameter is used to configure the gripping force.
This is the tolerance window for the "TeachPosition", "BasePosition" and
PositionTolerance
"WorkPosition". The value of the parameter acts in both directions.
The "BasePosition" is the outer "JawPosition". Depending on the gripper profile, this
BasePosition
can also be a work position!
The "ShiftPosition" is a switching position between pre-positioning and gripper
ShiftPosition
movement.
In its bits, the "StatusWord" supplies the most important information about the status
StatusWord
of the gripper back to the control.
If an error should occur, the "Diagnosis" outputs a diagnostic code which can be
Diagnosis
compared with the error list.
ActualPosition The value of the current position of the gripper [1/100 mm].
Error Fault, error message
Direction/24V cable connection - Depending on the gripper, this signal is used to
DIR
move the gripper.
Program/Configure
Using this signal, depending on the gripper type, the current position of the gripper
Teach/Adjust
jaws can be taught in as the new workpiece position. "Adjust" is used as a command
to define the reachable end positions of the gripper jaws.
GND Abbreviation for ground connection
Offset Correction value
Traversing routine Defined procedure for movement of the gripper jaws
Travel path Path on which the gripper jaws travel
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2 Zimmer GmbH ● Im Salmenkopf 5 ●  77866 Rheinau, Germany ●  +49 7844 9138 80 ●  +49 7844 9138 80 ● www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

Content
1. Supporting documents........................................................................................................................................................5

2. Safety instructions................................................................................................................................................................5

3. Proper use.............................................................................................................................................................................6

4. Personnel qualification........................................................................................................................................................6

5. Product description..............................................................................................................................................................7
5.1 Possible applications.........................................................................................................................................................................................7
5.2 Forces and torques............................................................................................................................................................................................7
5.3 Type plate ..........................................................................................................................................................................................................7

6. Function................................................................................................................................................................................8
6.1 Electrical specifications.....................................................................................................................................................................................8
6.2 LED display ........................................................................................................................................................................................................9
6.3 Verified configuration.........................................................................................................................................................................................9
6.4 Protection classes..............................................................................................................................................................................................9
6.5 Technical data....................................................................................................................................................................................................9
6.6 Self locking mechanism....................................................................................................................................................................................9

7. Installation...........................................................................................................................................................................10
7.1 Safety instructions...........................................................................................................................................................................................10
7.2 Installation of the mechanical system GEH6000IL .......................................................................................................................................10
7.3 Installation of the mechanical system GED6000IL .......................................................................................................................................11
7.4 Installation of the electrical system GEH6000IL + GED6000IL....................................................................................................................12
7.4.1 Installation of the wiring .................................................................................................................................................................12
7.4.2 “IO-Link” installation.......................................................................................................................................................................12
7.4.3 Installation of “Special gripper with a second cable” (STO connecting cable).........................................................................13
7.5 Static charge ...................................................................................................................................................................................................14
7.6 Heat dissipation...............................................................................................................................................................................................15
7.7 Installation of accessories...............................................................................................................................................................................15

8. Commissioning...................................................................................................................................................................15
8.1 Process data.....................................................................................................................................................................................................15
8.1.1 IODD import....................................................................................................................................................................................16
8.2 “Handshake” data transmission method.......................................................................................................................................................16
8.3 Parameter.........................................................................................................................................................................................................17
8.3.1 “ControlWord” parameter..............................................................................................................................................................17
8.3.2 “DeviceMode” parameter...............................................................................................................................................................18
8.3.3 Movement profiles..........................................................................................................................................................................19
8.3.4 “WorkpieceNo” parameter.............................................................................................................................................................24
8.3.5 “PositionTolerance” parameter......................................................................................................................................................24
8.3.6 “GripForce” parameter...................................................................................................................................................................24
8.3.7 “DriveVelocity” parameter..............................................................................................................................................................25
8.3.8 “BasePosition” parameter..............................................................................................................................................................25
8.3.9 “ShiftPosition” parameter...............................................................................................................................................................25
8.3.10 “TeachPosition” parameter............................................................................................................................................................26
8.3.11 “WorkPosition” parameter.............................................................................................................................................................26
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8.3.12 “StatusWord” parameter................................................................................................................................................................26

8.3.13 “Diagnosis” parameter...................................................................................................................................................................28
8.3.14 “ActualPosition” parameter............................................................................................................................................................28
8.4 “Cold start”.......................................................................................................................................................................................................28
8.5 Minimum travel path........................................................................................................................................................................................28
8.6 Referencing by “Homing” ..............................................................................................................................................................................29
8.6.1 “DeviceMode” 10............................................................................................................................................................................30
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8.6.2 “DeviceMode” 14............................................................................................................................................................................30

8.6.3 “DeviceMode” 16............................................................................................................................................................................31
8.6.4 “DeviceMode” 17............................................................................................................................................................................32

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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.7 Interruption of the power supply.....................................................................................................................................................................33

8.8 “Easy Startup”..................................................................................................................................................................................................33
8.9 Start of data transmission...............................................................................................................................................................................33
8.10 “Quickstart” basic parameters........................................................................................................................................................................34
8.11 Starting gripping movement...........................................................................................................................................................................35
8.12 Repeated movements in the same direction.................................................................................................................................................35
8.13 Recipe examples..............................................................................................................................................................................................36
8.13.1 “Store recipe”..................................................................................................................................................................................36
8.13.2 “Load recipe”..................................................................................................................................................................................37

9. Operation............................................................................................................................................................................37
9.1 Emergency release GEH6000IL......................................................................................................................................................................37
9.2 Emergency release GED6000IL......................................................................................................................................................................38

10. Gripping force charts.........................................................................................................................................................38

11. Troubleshooting..................................................................................................................................................................38

12. Maintenance.......................................................................................................................................................................41

13. Accessories/scope of delivery..........................................................................................................................................41

14. Transportation/storage/preservation...............................................................................................................................41

15. Decommissioning and disposal........................................................................................................................................41

16. RoHS declaration...............................................................................................................................................................42

17. REACH declaration............................................................................................................................................................42

18. Declaration of Incorporation..............................................................................................................................................43

19. Declaration of Conformity..................................................................................................................................................44

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

1. Supporting documents
NOTICE:
Read through the installation and operating instructions carefully 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 life time.
The documents listed below are available for download on our website.
ÖÖ www.zimmer-group.com
Only those documents currently available on the website are valid.

• Catalogs, drawings, CAD data, performance data

• Information on accessories
• Detailed installation and operating instructions
• Technical data sheets
• General Terms and Conditions of Business, including warranty information

2. Safety instructions
CAUTION:
Non-compliance may result in severe injuries!

1. Installation, commissioning, maintenance and repairs may only be performed by qualified specialists
in accordance with these installation and operating instructions.
2. The gripper is state-of-the-art. It is fitted to industrial machines and is used to hold workpieces. The
following are examples of situations in which the gripper may cause a hazard:
• the gripper is not properly fitted, used or maintained
• the gripper module is not used for its intended purpose
• local regulations (legislation, ordinances, guidelines), such as the EC Machinery Directive,
accident prevention regulations and the installation and operating instructions, are not
observed.

3. The gripper may be used only in accordance with its proper use and technical data. Zimmer GmbH
shall accept no liability for any damage caused by improper use.
4. Any use other than the intended use requires written approval from Zimmer GmbH.
5. Make sure that the power cables are disconnected before you install, modify, maintain or repair the
gripper.
6. In case of maintenance, conversion or expansion work, remove the gripper from the machine and
perform the work outside the danger zone.
7. When commissioning or testing, make sure that the gripper cannot be actuated by mistake.
8. Modifications to the gripper, such as adding drilled holes or threads, may be made only with prior
approval from Zimmer GmbH.
9. The specified maintenance intervals are to be observed; also refer to the “Maintenance” section.
When the gripper is used under extreme conditions, the maintenance interval must be adapted
depending on the extent of the contamination. Please contact our hotline for this purpose.
10. Use of the gripper under extreme conditions, such as aggressive liquids and abrasive dusts, is
EN / 2019-10-28

subject to prior approval from Zimmer GmbH.

11. Do not reach into the operational range of the gripper!
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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

3. Proper use
NOTICE:
The gripper is to be used only in its original state with its original accessories, without any
unauthorized changes and within the scope of its defined parameters of use.
Zimmer GmbH shall accept no liability for any damage caused by improper use.

Use outside of the defined parameters is not permitted. Unauthorized electrical or mechanical modifications must not
be made.
The gripper is designed exclusively for electric operation using a supply voltage of 24 VDC.
The gripper is used as defined under “Proper use” in enclosed rooms to temporarily grip, handle and hold parts.
The gripper is not suitable for clamping workpieces during a machining process.
Direct contact with perishable goods/food is not permitted.

4. Personnel qualification
Installation, commissioning and maintenance may only be performed by qualified personnel. These personnel must
have read and understood the installation and operating instructions in full.
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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

5. Product description
NOTICE:
To ensure that the gripper jaws do not get deformed, care must be taken to ensure that the
configuration of the gripping force and the selection of the gripper finger length is correct.
An incorrect configuration or selection can lead to malfunction.

CAUTION:
Reduction of gripping force
Reduce the gripping force of the gripper when gripping flexible components.
A reduced gripping force can lead to material damage or injury to personnel, because the
components that are being gripped can no longer be securely gripped and transported.

5.1 Possible applications

Outside gripping Inside gripping
Inside gripping („DeviceMode“ 70): e.g. "DeviceMode" 60 e.g. "DeviceMode" 70
The gripper can be used for inside
gripping.
The gripper moves at the
set “DriveVelocity” back into
“WorkPosition”.

Outside gripping („DeviceMode“ 60):

The gripper can be used for outside
gripping.
The gripper moves at the set
“DriveVelocity” back to “BasePosition”
position.

5.2 Forces and torques

INFORMATION:
For information on forces and torques, please visit our website
 www.zimmer-group.com
If not specified otherwise, these values are to be reached with a fixed workpiece made of metal.
If you should have further questions about forces and torques, please contact Zimmer GmbH
Customer Service.

5.3 Type plate

A type plate is attached to the housing of the gripper.
The serial number and the article number are shown on this type plate.
►► This serial number ensures that the unit has an unambiguous, continuous
classification in the event of an update or an overhaul.
►► You should assign the serial number to your project when possible.
ÖÖ Example:
• Serial number: 01-12345678
INFORMATION:
Please state the serial number in the event of damage or a complaint.
EN / 2019-10-28

If you still have questions, please contact Zimmer Customer Service.

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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

6. Function
The gripper fingers of the parallel gripper are arranged parallel to each other on two opposing guide rails and can be
moved relative to each other. With the centric gripper, the gripper jaws and their guide rails are offset by 120° to each
other.
The force of the motor is transmitted over a worm drive. A pinion and a rack generate the movement of the gripper jaws
and synchronize these movements.
Despite its small installation space, the gripper is qualified for the gripping of a wide range of large and positive-fit
parts and can easily be integrated into the existing control system. The gripping force can be adapted optimally to the
workpiece conditions via IO-Link.

Fig. 1: Cutaway view of the GEH6000IL series gripper

1 Energy supply

2 Rack and pinion gear

3 Mounting and positioning

4 Removable centering sleeve

5 Precise T-slot guide Fig. 2: Cutaway view of the GED6000IL series gripper

6 Helical worm gear

7 Robust, lightweight housing

8 Drive

6.1 Electrical specifications

INFORMATION:
Please refer to our website for information on electrical specifications
 www.zimmer-group.com
This data varies within the series depending on the specific design. If you should have further
questions about the electrical specifications, please contact Zimmer GmbH Customer Service.
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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

6.2 LED display

bl "TeachPosition"

bm Error

bn Power supply on

bo "WorkPosition"

bp "BasePosition"

blbmbnbobp
6.3 Verified configuration
INFORMATION:
Please refer to our website for information on verified configurations
 www.zimmer-group.com
If you still have questions about the verified configuration, please contact Zimmer Customer Service.

6.4 Protection classes

NOTICE:
The gripper achieves protection class IP54 in all mounted positions of installation.

6.5 Technical data

INFORMATION:
Please refer to our website  www.zimmer-group.com for technical data
This data varies within the series depending on the specific design. If you should have further
questions about technical data, please contact Zimmer GmbH Customer Service.

6.6 Self locking mechanism

INFORMATION:
The gripper has a mechanical self locking mechanism to ensure that the workpiece is still held by the
gripper in the event of situations of power supply loss or failure (such as an emergency stop).
ÖÖ This function does not apply for the GEH60xxIL-31-B series.
If you still have questions, please contact Zimmer Customer Service.
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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

7. Installation
7.1 Safety instructions
NOTICE:
Switch off the energy supply for the electronics before any assembly, installation or maintenance
work.
►► Electronics may get damaged.

CAUTION:
Switch off the energy supply for the electronics before any assembly, installation or maintenance
work.
►► Injuries are possible.

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.

7.2 Installation of the mechanical system GEH6000IL

The gripper must be installed on a br
mounting surface in accordance with the bq
levelness specifications.
Length < 100 mm  permitted unevenness 3
< 0.02 mm
Length > 100 mm  permitted unevenness
< 0.05 mm
The gripper can be installed with its base
or laterally onto the mounting piece. 3
When doing so, make sure the levelness
specifications are adhered to.
The following work steps must be
observed during installation: bq
►► Insert a straight pin or a centering br
sleeve bq in the designated fits on
6
the gripper. br
ÖÖ Straight pin or centering
sleeve, depending on
variant.
►► Use a straight pin or a centering sleeve to position the gripper on the designated mounting piece.
bq
►► Use the mounting screws to secure the gripper onto the mounting piece.
br
ÖÖ Screw-in depth = min. 1.5xØ
ÖÖ The mounting screws are not included in the scope of delivery.
ÖÖ Strength class of the mounting screws at least 8.8  DIN EN ISO 4762.
ÖÖ Observe the tightening torque of the mounting screws.
ÖÖ Make sure the mounting surface is sufficiently rigid and level.
NOTICE:
Non-compliance may result in property damage.
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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

7.3 Installation of the mechanical system GED6000IL

The gripper must be installed on a mounting
surface in accordance with the levelness
specifications.
Diameter < 100 mm  permitted unevenness br
< 0.02 mm
Diameter > 100 mm  permitted unevenness
< 0.05 mm
bq
The gripper can be installed with its base or
laterally onto the mounting piece. When doing so,
make sure the levelness specifications are adhered
to.
The following work steps must be observed during
installation: 3
►► Insert a straight pin or a centering sleeve inbq
the designated fits 3 on the gripper.
ÖÖ Straight pin or centering sleeve,
depending on variant.
►► Use a straight pin or a centering sleeve bq
to position the gripper on the designated
mounting piece.
►► Fix the gripper to the adjacent construction
with the mounting screws br and the mounting
threads 3 .
ÖÖ Screw-in depth = min. 1.5xØ
ÖÖ The mounting screws are not
included in the scope of delivery.
ÖÖ Strength class of the mounting
screws at least 8.8  DIN EN ISO
4762.
ÖÖ Observe the tightening torque of
the mounting screws.
ÖÖ Make sure the mounting surface is br
sufficiently rigid and level.

NOTICE:
Non-compliance may result in property damage.

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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

7.4 Installation of the electrical system GEH6000IL + GED6000IL

7.4.1 Installation of the wiring
►► Connect the supply cable to the gripper and the control.
ÖÖ You can find the corresponding supply cable on our website
ÖÖ www.zimmer-group.com

CAUTION:
Destruction of the gripper
In the event that the polarity of the gripper is reversed, the gripper may be destroyed as a result of the
duration of current of the IO-Link chip C/Q (pin 4) being too long.
ÖÖ Make sure that the gripper is correctly connected at all times!

INFORMATION:
The cables that are used by Zimmer GmbH feature a minimum bending radius of 10 x the outer
diameter.
This bending radius must not be undershot!
ÖÖ All IO-Link cables that are installed in grippers have an outer diameter of 5 mm and thus have a
bending radius of 50 mm.
ÖÖ Freely suspended cables must be secured to prevent excessive motion loads or pinching.

7.4.2 “IO-Link” installation

GEH6000IL/GED6000IL
PIN assignment of the power supply line:
PIN Color Function Explanation
1 Brown Sensor + 24 V DC Power supply for IO-Link communication
2 White Actuator + 24 V DC Actuator supply voltage
3 Blue GND sensor Sensor 0 V DC supply voltage
4 Black C/Q IO-Link communication
5 Gray GND actuator Actuator 0 V DC supply voltage
The following steps must be carried out for commissioning or installation of the gripper with IO-Link:
►► Connect the gripper to the IO-Link master.
►► Ensure the voltage supply.
ÖÖ For Port Class A + B, additional power supply via Y-cable.
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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

7.4.3 Installation of “Special gripper with a second cable” (STO connecting cable)
INFORMATION:
The “Semi-Standard” gripper has a second cable that feeds the STO signals (Safe-Torque-OFF)
outside.
The gripper is distinguished from the standard gripper only by the second cable. This means that all
operation modes, signals and commands are identical.

PIN assignment of the power supply line:

PIN Color Function Explanation
1 Brown Sensor + 24 V DC Power supply for IO-Link communication
2 White Actuator + 24 V DC Actuator supply voltage
3 Blue GND sensor Sensor 0 V DC supply voltage
4 Black C/Q IO-Link communication
5 Gray GND actuator Actuator 0 V DC supply voltage

PIN assignment of the STO cable:

PIN Color Function Explanation
STO-1 signal from external safety switch
1 Brown Sensor + 24 V STO-1
device
3 Blue GND Ground potential
STO-2 signal from external safety switch
4 Black + 24 V STO-2 signal
device

The STO-1 and STO-2 signals must be connected at the same time using the identical voltage level (0 V or 24 V).
If one STO signal differs from the other, the gripper switches to a safe state, reports at “Diagnostics” = 0x100 
that the gripper cannot be moved any longer without a “cold start” (what is referred to as a fatal error).
Wiring:
If the two STO signals have the status of “FALSE” (0 V), the STO circuit in the gripper is interrupted and the
gripper is in a safe state.
To move the gripper again, both STO signals have to be set to the status of “TRUE” (24 V). The diagnostics of the
gripper change to 0x01 (Motor OFF) if the parameter values are correct.
The motor can now be switched on, the desired “DeviceMode” can be selected and transmitted and movement
can subsequently be started.
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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

7.5 Static charge

The movement of the gripper jaws create low voltages as a result of static charging. This charging cannot be
dissipated if a discharge is also not possible via the workpiece.

NOTICE:
Non-compliance may result in damage to the system
EN / 2019-10-28

Grounding the gripper attachment / gripper jaws is recommended if ESD-sensitive parts come into
contact with the gripper.
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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

7.6 Heat dissipation

In the event of high ambient temperatures, the gripper has to be installed on heat-dissipating materials.
7.7 Installation of accessories
INFORMATION:
Visit our website for a complete overview of accessories for the GEH6000IL series:
 www.zimmer-group.com.
If you still have questions about accessories, please contact Zimmer GmbH Customer Service.

NOTICE:
Before installing an accessory, make sure it is suitable for use with the selected variant.
You can find more information on available accessories on our website
 www.zimmer-group.com.

8. Commissioning
8.1 Process data
The option exists for the gripper to be controlled only by the process data transmitted in each cycle.
Outputs: Process data from the IO-Link master to the gripper

Name Data type

ControlWord UINT 16
DeviceMode UINT 8
Workpiece No. UINT 8
Reserve UINT 8
PositionTolerance UINT 8
GripForce UINT 8
DriveVelocity UINT 8
BasePosition UINT 16
ShiftPosition UINT 16
TeachPosition UINT 16
WorkPosition UINT 16

Input

Control Grippers
system
Edition
EN / 2019-10-28

Name Data type

StatusWord UINT 16
Diagnosis UINT 16
ActualPosition UINT 16
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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.1.1 IODD import

►► Importing the IODD (device description) into the control system.
ÖÖ Call up our website at  www.zimmer-group.com
ÖÖ Select the desired gripper and download the corresponding .zip file via the “Download IODD” link.
ÖÖ The .zip file is required for importing into the control.
When the hardware configuration is complete and the IO-Link connection to the gripper is established, some
data must be visible in the process input data.
ÖÖ Some control systems demand a byte swap to bring this process data into a logical sequence.
►► To determine whether a byte swap is necessary, you can view bit 6 (GripperPLCActive) in the “StatusWord”.
►► For this purpose, it is necessary to determine whether bit 6 is active in the first or second byte of the
“StatusWord”.
ÖÖ If bit 6 is active in the first byte, the bytes already have the correct sequence and commissioning
can be continued.
ÖÖ If bit 6 is active in the second byte, a ByteSwap still has to be applied here.
ÖÖ For further information, refer to the “StatusWord” chapter.
INFORMATION:
It is mandatory to verify the process data.

The control of the gripper takes place via IO-Link by means of the cyclical process data as well as the acyclical
service data with a cycle time of 10 ms.
8.2 “Handshake” data transmission method
All process data that is transmitted to the gripper and is described in the sections that follow must be transmitted
using the “handshake” method.
INFORMATION:
This method is referred to as a “handshake” because it enables “clean” transmission.
The process data transmission takes place, so to speak, from “hand to hand” - from the control
system to the gripper.

The following steps are required for the “handshake”:

The data transmission starts with the transmission of  "ControlWord" = 0x01  to the gripper.
Subsequently, the response of the gripper must be tested by means of  "Statusbit" 12 = TRUE 
(data transmission OK).
The data transmission is complete when the gripper  sends back  "Statusbit" 12 = "DatatransferOK" =
FALSE.
►► For an example, refer to the "Quickstart Basic Parameters" chapter.
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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.3 Parameter
8.3.1 “ControlWord” parameter
NOTICE:
In the “ControlWord” parameter, only one single bit may be set at a time. Only the values listed in the
following table are valid:

Parameter Decimal value Hexadecimal value

Data transfer 1 0x1
WritePDU 2 0x2
ResetDirectionFlag 4 0x4
Teach 128 0 x 80
MoveToBase 256 0 x 100
MoveToWork 512 0 x 200
JogToWork "+" 1024 0 x 400
JogToBase "-" 2048 0 x 800

Name "ControlWord"
Data format UINT16
Permission Write
Transmission Cyclical
Value range 0 to 65535

“ControlWord” structure:
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Byte 1 - - - - "JogToBase" "JogToWork" "MoveToWork" "MoveToBase"
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
"ResetDirec-
Byte 2 "Teach" - - - - "WritePDU" "Datatransfer"
tionFlag"

Bit 0: „Datatransfer“
►► When this bit is set, the gripper accepts the data transferred in the process data

Bit 1: „WritePDU“
►► Setting this bit communicates to the gripper that it should write the current process data to the
selected tool recipe.
Bit 2: „ResetDirectionFlag“
►► Setting this bit informs the gripper that the direction flag needs to be reset.
►► This makes a repeated movement to a position possible.
EN / 2019-10-28

►► This is logical during a switchover of workpiece recipes.

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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

Bit 7: „Teach“
►► Setting this bit informs the gripper to save the current position as the “TeachPosition” in the
selected “WorkpieceNo”.
INFORMATION:
This only works if there is no “0” that is transmitted in the workpiece number!

Bit 8: „MoveToBase“
►► Setting this bit communicates to the gripper that it should move to the “BasePosition”.

Bit 9: „MoveToWork“
►► Setting this bit communicates to the gripper that it should move to the “WorkPosition”.

Bit 10: „JogToWork“

►► Setting this bit in the “ControlWord” puts the gripper in jog mode and slowly moves toward the
“WorkPosition”. If the bit is reset, the gripper stops.

Bit 11: „JogToBase“

►► Setting this bit in the “ControlWord” puts the gripper in jog mode and slowly moves toward the
“BasePosition”. If the bit is reset, the gripper stops.

8.3.2 “DeviceMode” parameter

Name "DeviceMode"
Data format UINT8
Permission Write
Transmission Cyclical
Value range 0 to 256

“Basic commands”
These modes control the basic gripper actions.
"DeviceMode" Action "ControlWord"
0 Not guided to the motor control system dc
1 Idle 0x1
2 Gripper reset 0x1
3 Switch on motor 0x1
5 Switch off motor/stop gripping movement 0x1
Start homing (only necessary if the gripper was moved without a voltage
10 0x1
supply)
11 Enable jog mode 0x400/0x800
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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.3.3 Movement profiles

“PositionProfile”

DriveVelocity [%]

0-point BasePosition [1/100 mm] WorkPosition [1/100 mm]

The gripper moves into the “PositionProfile” using this mode.

The movement speed is configured using the “DriveVelocity” parameter.
The “TeachPosition” does not have any significance in this mode because the “BasePosition” or “WorkPosition”
is always approached precisely.
If the gripper encounters an obstacle in this mode while moving, it stops and issues an error message.
The gripper can be moved from the obstacle back to the starting position if the command is switched in the
“ControlWord”.
No defined gripping forces can be generated in this mode. As a result, friction-locked gripping is not permitted in
this mode.
"DeviceMode" Action "ControlWord"
50 Move to "BasePosition". 0x100
50 Move to "WorkPosition". 0x200
Move to "BasePosition".
Special movement profile for a faster movement of the gripper. The gripper
51 0x100
must never be jammed, i.e. neither be at the end stop nor have gripped a
workpiece.
Move to "WorkPosition".
Special movement profile for a faster movement of the gripper. The gripper
51 0x200
must never be jammed, i.e. neither be at the end stop nor have gripped a
workpiece.
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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

“ForceProfile”
ÖÖ Applies for all GEH6000IL, with the exception of GEH60xxIL-31-B

TeachPosition
GripForce [%]

PositionTolerance

0-point BasePosition [1/100 mm] WorkPosition [1/100 mm]

In this mode, the gripper moves onto the workpiece in the “ForceProfile”.
ÖÖ The “GripForce” parameter is used to configure the desired gripping force.
ÖÖ The “TeachPosition” parameter is used to define the workpiece position.
Since gripping typically only occurs in one direction, there is a distinction made between the two mode groups
“60” and “70”.
ÖÖ In the “60” movement profile group, the gripper in the “ForceProfile” moves from the
“BasePosition” toward the “WorkPosition” onto the workpiece using the “ControlWord” command
“0x200”.
ÖÖ If the “ControlWord” command “0x100” is written in the “60” mode group, then the gripper travels
away from the workpiece to the “BasePosition” in the “PositionProfile”, without the need for any
prompts from the user. Here, the gripper moves at the speed set in the “DriveVelocity” parameter.
ÖÖ This procedure is reversed in the “70” mode group. As such, the “60” mode group is used for
outside gripping and the “70” mode group for inside gripping.
The two mode groups “60” and “70” are usually used for an optimized gripping cycle of hard workpieces
because the main focus here is on a quick gripper movement with relatively low current values. If the gripper is
stopped suddenly by a spring-loaded workpiece, it is no longer able to generate the desired gripping force.
For this reason, mode groups “65” and “75” should be used for elastic/flexible workpieces. In these mode
groups, the gripper has a relatively low movement speed because the majority of the gripping force is created
directly by means of the electrical current.
However, it will no longer be possible to generate full gripping force. The gripping force generated in these mode
groups depends on the elasticity of the workpiece.
Group „60“ - typically used for outside gripping
"DeviceMode" Action "ControlWord"
Move toward the "WorkPosition" until this position or the workpiece is
60 0x200
reached.
60 Move toward the "BasePosition" for opening the gripper. 0x100
Move toward the "WorkPosition" until this position or the workpiece is
reached.
61 Special movement profile for a faster movement of the gripper. In the "open 0x200
position", the gripper must not be jammed, i.e. neither be at the end stop
nor have gripped a workpiece.
EN / 2019-10-28

61 Move toward the "BasePosition" for opening the gripper. 0x100

Group „65“ - typically used for outside gripping with elastic workpieces
"DeviceMode" Action "ControlWord"
Move toward the "WorkPosition" until this position or the workpiece is
65 0x200
reached
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65 Move toward the "BasePosition" for opening the gripper 0x100

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

Group „70“ - typically used for inside gripping

"DeviceMode" Action "ControlWord"
Move toward the "BasePosition" until this position or the workpiece is
70 0x100
reached.
70 Move toward the "WorkPosition" for opening the gripper. 0x200
Move toward the "BasePosition" until this position or the workpiece is
reached.
71 Special movement profile for a faster movement of the gripper. In the "open 0x100
position", the gripper must not be jammed, i.e. neither be at the end stop
nor have gripped a workpiece.
71 Move toward the "WorkPosition" for opening the gripper. 0x200
Group „75“ - typically used for inside gripping with elastic workpieces
"DeviceMode" Action "ControlWord"
Move toward the "Base position" until this position or the workpiece is
75 0x100
reached
75 Move toward the "WorkPosition" for opening the gripper 0x200
Only applies to GEH60xxIL-31-B

TeachPosition
GripForce [%]

PositionTolerance

0-point BasePosition [1/100 mm] WorkPosition [1/100 mm]

In this mode, the gripper moves onto the workpiece in the “ForceProfile”.
ÖÖ The “GripForce” parameter is used to configure the desired gripping force.
ÖÖ The “TeachPosition” parameter is used to define the workpiece position.
Since gripping typically only occurs in one direction, there is a distinction made between the two mode groups
“62” and “72”.
ÖÖ In the “62” mode group, the gripper in the “ForceProfile” moves from the “BasePosition” toward
the “WorkPosition” onto the workpiece using the “ControlWord” command “0x200”.
ÖÖ If the “ControlWord” command “0x100” is written in the “62” mode group, then the gripper travels
away from the workpiece to the “BasePosition” in the “PositionProfile”, without the need for any
prompts from the user. Here, the gripper moves at the speed set in the “DriveVelocity” parameter.
ÖÖ This procedure is reversed in the “72” mode group. As such, the “62” mode group is used for
outside gripping and the “72” mode group for inside gripping.
Group „62“ - typically used for outside gripping
EN / 2019-10-28

"DeviceMode" Action "ControlWord"

Move toward the "WorkPosition" until this position or the workpiece is
62 0x200
reached
62 Move toward the "BasePosition" for opening the gripper 0x100
Group „72“ - typically used for inside gripping
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"DeviceMode" Action "ControlWord"

Move toward the "WorkPosition" until this position or the workpiece is
72 0x100
reached

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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

72 Move toward the "BasePosition" for opening the gripper 0x200

“PrePosition-ForceMode”
ÖÖ Applies for all GEH6000IL, with the exception of GEH60xxIL-31-B

DriveVelocity

GripForce

TeachPosition

PositionTolerance

0-point BasePosition ShiftPosition WorkPosition

This mode is an extension of the “ForceProfile”. This means that a typically quick prepositioning process takes
place until the “ShiftPosition” is reached.
ÖÖ When it reaches the “ShiftPosition”, the gripper switches over to the “ForceProfile” without
stopping the motor. Therefore, the “BasePosition”, “ShiftPosition” and “WorkPosition” have to be
defined for this mode.
ÖÖ The “DriveVelocity” and “GripForce” parameters also have to be configured.
ÖÖ Here, the “TeachPosition” also defines the workpiece position with adjustable tolerance.

Just as in the “ForceProfile”, the gripper moves away from the workpiece using the “PositionProfile” at the speed
specified with the “DriveVelocity” parameter.

In this mode, the window tolerance is also configured in the respective mode groups “80” and “90” or “85” and
“95”. The gripper switches off the motor after reaching the workpiece for the mode groups “80”and “90”. This
means that at that point, the gripping force is retained by means of the self locking mechanism.

In mode groups “85” and “95”, the gripper attempts to constantly apply light holding pressure. This means
that the gripper readjusts its position in this mode if, for instance, the workpiece was clamped incorrectly and
released itself.
Group „80“ - typically used for outside gripping
"DeviceMode" Action "ControlWord"
Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip-
80 0x200
Force" until the workpiece or the "WorkPosition" is reached
80 Move toward the "BasePosition" for opening the gripper 0x100
Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip-
Force" until the workpiece or the "WorkPosition" is reached.
81 Special movement profile for a faster movement of the gripper. In the "open 0x200
position", the gripper must not be jammed, i.e. neither be at the end stop
EN / 2019-10-28

nor have gripped a workpiece.

81 Move toward the "BasePosition" for opening the gripper. 0x100
Group „85“ - typically used for outside gripping with holding pressure current
"DeviceMode" Action "ControlWord"
Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip-
85 0x100
Force" until the workpiece or the "WorkPosition" is reached.
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85 Move toward the "BasePosition" for opening the gripper. 0x200

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

Group „90“ - typically used for inside gripping

"DeviceMode" Action "ControlWord"
Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip-
90 0x200
Force" until the workpiece or the "BasePosition" is reached
90 Move toward the "WorkPosition" for opening the gripper 0x100
Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip-
Force" until the workpiece or the "BasePosition" is reached.
91 Special movement profile for a faster movement of the gripper. In the "open 0x200
position", the gripper must not be jammed, i.e. neither be at the end stop
nor have gripped a workpiece.
91 Move toward the "WorkPosition" for opening the gripper. 0x100
Group 85 - typically used for inside gripping with holding pressure current
"DeviceMode" Action "ControlWord"
Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip-
95 0x100
Force" until the workpiece or the "BasePosition" is reached
95 Move toward the "WorkPosition" for opening the gripper 0x200
Only applies to GEH60xxIL-31-B

DriveVelocity

GripForce

TeachPosition

PositionTolerance

0-point BasePosition ShiftPosition WorkPosition

This mode is an extension of the “ForceProfile”. This means that a typically quick prepositioning process takes
place until the “ShiftPosition” is reached.
ÖÖ When it reaches the “ShiftPosition”, the gripper switches over to the “ForceProfile” without
stopping the motor. Therefore, the “BasePosition”, “ShiftPosition” and “WorkPosition” have to be
defined for this mode.
ÖÖ The “DriveVelocity” and “GripForce” parameters also have to be configured.
ÖÖ Here, the “TeachPosition” also defines the workpiece position with adjustable tolerance.
Just as in the “ForceProfile”, the gripper moves away from the workpiece using the “PositionProfile” at the speed
specified with the “DriveVelocity” parameter.
Group „82“ - typically used for outside gripping
"DeviceMode" Action "ControlWord"
EN / 2019-10-28

Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip-

82 0x200
Force" until the workpiece or the "WorkPosition" is reached.
82 Move toward the "BasePosition" for opening the gripper. 0x100
Group „92“ - typically used for inside gripping
"DeviceMode" Action "ControlWord"
Move with v = "DriveVelocity" to the "ShiftPosition" and then with "Grip-
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92 0x100
Force" until the workpiece or the "BasePosition" is reached.
92 Move toward the "WorkPosition" for opening the gripper. 0x200

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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.3.4 “WorkpieceNo” parameter

This workpiece number is used for selecting the previously stored workpiece data, as well as for selecting the
“WorkpieceNo” data record in which the current process data is stored.
This “WorkpieceNo” data record enables individual workpieces to be taught-in to the gripper very quickly if the
recipes are not managed on the control system.
INFORMATION:
An example of a code can be found in the “Quickstart Basic Parameters” chapter (recipe examples).
ÖÖ “Store recipe” and “Load recipe”

Name "WorkpieceNo"
Data format UINT8
Permission Write
Transmission Cyclical
Value range 0 to 32

The corresponding workpiece recipe is loaded in the gripper with a value > 0.
8.3.5 “PositionTolerance” parameter
This parameter is used to configure the position tolerance with a resolution of 0.01 mm.
Thus the value range of 0 to 255 can be used to set a maximum tolerance of 2.55 mm in both directions.
INFORMATION:
Example:
If the “Teach position” has a value of 1500 (i.e. 15.00 mm), a tolerance of 1.50 mm in both directions
can be set with a value of 150 in the “Position tolerance” parameter.
By doing this, the TeachPosition window starts at 13.50 mm and goes all the way up to 16.50 mm.

Name "PositionTolerance"
Data format UINT8
Permission Write
Transmission Cyclical
Value range 0 to 255

8.3.6 “GripForce” parameter

The gripper can work with different gripping forces for an optimized process flow. The gripping force is indicated
as a percent from the minimum to the maximum gripping force. The user can transmit the required gripping force
in increments of 1%.
INFORMATION:
When the gripper reaches 100% gripping force, it switches to a higher maximum permitted peak
current.
This means that, in the range of 100% to 130%, the gripper can draw a maximum current of 7.5 A for
a brief period.
ÖÖ This function does not apply for the GEH60xxIL-31-B series.
EN / 2019-10-28

Name "GripForce"
Data format UINT8
Permission Write
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Transmission Cyclical
Value range 1% to 100%

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INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.3.7 “DriveVelocity” parameter

The gripper can use different movement speeds for an optimized process flow.
This parameter determines the movement speed of the gripper in both directions in the “PositionProfile” mode.
In the other modes, this parameter determines the movement speed from the workpiece.
In “PrePosition-ForceProfile” mode, it determines the movement speed to the switching position.
The positioning speed is specified as a percentage (1% to 100%). The gripper converts this information to its
maximum movement speed.
INFORMATION:
Example:
To set a movement speed of 75%, a value of 75 (“DriveVelocity” = 75) must be transmitted.

Name "DriveVelocity"
Data format UINT8
Permission Write
Transmission Cyclical
Value range 1% to 100%

8.3.8 “BasePosition” parameter

The “BasePosition” must always be smaller than the “ShiftPosition”.
The gripper verifies this and, if necessary, indicates an error message.
If the current position of the gripper within the tolerance window is in the vicinity of the “BasePosition”, bit 8 is set
in the “ControlWord”.

Name "BasePosition"
Data format UINT16
Permission Write
Transmission Cyclical
0.75 to max. jaw stroke of the gripper + 0.75
Value range
mm
8.3.9 “ShiftPosition” parameter
The “ShiftPosition” must always be larger than the “BasePosition” and smaller than the “WorkPosition”.
The gripper verifies this and, if necessary, indicates an error message.

Name "ShiftPosition"
Data format UINT16
Permission Write
Transmission Cyclical
0.75 to max. jaw stroke of the gripper + 0.75
Value range
mm
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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.3.10 “TeachPosition” parameter

The “TeachPosition” defines the target position of the workpiece and its use is optional.
If the current position of the gripper within the tolerance window is around the “TeachPosition”, bit 9 is set in the
“Status”.
The size of the tolerance window is defined using the “PositionTolerance” parameter.

Name "TeachPosition"
Data format UINT16
Permission Write
Transmission Cyclical
0.75 to max. jaw stroke of the gripper + 0.75
Value range
mm
8.3.11 “WorkPosition” parameter
The “WorkPosition” defines the maximum travel path of the gripper and has to be greater than the
“ShiftPosition”.
In the “PositionProfile” mode, this position is precisely approached because the gripper is in positioning mode.
In the “PrePosition-ForceProfile” or “ForceProfile” modes, the gripper is stopped, starting from this position. The
gripper will move past the “WorkPosition” slightly.
ÖÖ A maximum of 2 mm, depending on the movement speed and gripper mass.
For “DeviceMode” 70/90, the same applies for the “BasePosition”.
Name "WorkPosition"
Data format UINT16
Permission Write
Transmission Cyclical
0.75 to max. jaw stroke of the gripper + 0.75
Value range
mm

Outputs: Process data from the gripper to the IO-Link master!

8.3.12 “StatusWord” parameter
“StatusWord” structure:
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
"Control- "Control- "Unde-
"DataTrans- "WorkPosi- "TeachPosi- "BasePosi-
Byte 1 Error Word" = Word" = fininedPosi-
ferOK" tion" tion" tion"
0x200 0x100 tion"
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
"Control- "Gripper- "JogWork- "JogBase- "Movement- "HomingPo-
Byte 2 "InMotion" "MotorON"
lerError" PLCActive" Active" "+" Active" "-" Complete" sition" OK

Bit 0: „HomingPosition“ OK
►► The gripper has its reference.
EN / 2019-10-28

►► This bit is required as mandatory.

►► If the reference run is “FALSE”, a “Homing” run must be carried out using the “DeviceMode” = 10
or 14, 16 or 17 (decimal) parameter.

Bit 1: „MotorON“
►► This bit is enabled when the motor is switched on by the “DeviceMode” = 3 (decimal) parameter.
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►► The motor is automatically switched on during a “Homing” run (“DeviceMode” = 10 (decimal)).

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Bit 2: „InMotion“
►► This bit is active during the run.

Bit 3: „MovementComplete“
►► This bit is active after the movement is complete.

Bit 4: „JogBaseActive“ „-“

►► Confirmation during the “Jog” run in the direction of “BasePosition”.

Bit 5: „JogWorkActive“ „+“

►► Confirmation during the “Jog” run in the direction of “WorkPosition”.

Bit 6: „GripperPLCActive“
►► This bit is active as soon as the gripper has booted up after the cold start. This bit can be used to
verify a “byte swap”.

Bit 7: „ControllerError“
►► Error in the controller.

Bit 8: „BasePosition“
►► This bit is active if the gripper is at “BasePosition”.

Bit 9: „TeachPosition“
►► This bit is active if the gripper is at “TeachPosition”.

Bit 10: „WorkPosition“

►► This bit is active if the gripper is at “WorkPosition”.

Bit 11: „UndefininedPosition“

►► This bit is active if the gripper is neither at “TeachPosition”, nor “WorkPosition” nor
“BasePosition”.

Bit 12: „DataTransfer“ OK

►► This bit is used for data transmission, using the “handshake”.
►► As soon as data has been taken over by the parameter “ControlWord” =1 (decimal) in the gripper,
this bit is active.

Bit 13: “ControlWord” 0x100

►► This bit is a direction flag and is active when the last movement order was made in the
“BasePosition” direction.

Bit 14: “ControlWord” 0x200

►► This bit is a direction flag and is active when the last movement order was made in the
“WorkPosition” direction.
Bit 15: “Error”
►► Error in the gripper.
►► If this bit is active, the error message can be determined using the “Diagnosis” parameter.
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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.3.13 “Diagnosis” parameter

The value returned in the parameter corresponds to the error code (see “Troubleshooting” chapter).

Name "Diagnosis"
Data format UINT16
Permission Read
Transmission Cyclical
Value range 0 to 65535

8.3.14 “ActualPosition” parameter

The parameter “ActualPosition” corresponds to the current position of the gripper jaws relative to the full stroke.
The value is specified with an accuracy of 0.01 mm.

Name "ActualPosition"
Data format UINT16
Permission Read
Transmission Cyclical
Value range 0 to max. jaw stroke of the gripper

INFORMATION:
The “StatusWord” of the gripper should be used to check whether a workpiece has been gripped
correctly.
ÖÖ The position measurement resolution is: 0.01 mm
ÖÖ The position measurement accuracy is: 0.1 mm
If the “ActualPosition” parameter is used for detecting the workpiece, then fluctuations around the
exact value must be taken into consideration during commissioning!

8.4 “Cold start”

For proper function, we recommend that the actuator and sensor voltage be supplied with power separately.
Pins 1 and 3 are intended for the sensor power supply and must be switched on first.
Once the gripper is able to communicate with the PLC, the supply voltage can then be activated via pins 2 and 5.

Please observe the following:

If pin 1 is disconnected, pin 4 (IO-Link) must also be disconnected.
8.5 Minimum travel path
The gripper requires a certain “minimum travel path” to accelerate to the desired gripping force.
This minimum travel path depends on:
• The desired gripping force
• The dimensions of the gripper fingers
Design size Minimum travel path
GEH6040IL-03-B 3 mm
GEH6040IL-31-B 3 mm
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GEH6060IL-03-B 3 mm
GEH6140IL-03-B 1 mm
GEH6180IL-03-B 1 mm
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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

Design size Minimum travel path

GED6040IL-03-A 4 mm
GED6040IL-31-A 4 mm
GED6140IL-03-A 2 mm

8.6 Referencing by “Homing”

NOTICE:
Before each “Homing command”, make sure that the gripper is able to move freely and easily and
that it cannot be blocked by the gripper jaws or interfering edges.
When blocking, the reference position is set.
A “Homing command” is not permitted in the gripped state.

There are various “Homing commands” available.

"DeviceMode" Action
10 Outside homing - to the internal end stop of the gripper (see Chapter 8.6.1)
14 Inside homing - to the internal end stop of the gripper (see Chapter 8.6.2)
16 Special outside homing - to the external end stop (see Chapter 8.6.3)
17 Special inside homing - to the external end stop (see Chapter 8.6.4)

The gripper has reached its “zero position” if the gripper jaws are at the pictured position when referencing
(“Homing” “DeviceMode” 10).
Depending on design size, the gripper jaws move slightly beyond the edge of the gripper housing upon being
moved to home position (“Homing”).

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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.6.1 “DeviceMode” 10
The following work steps must be observed for “Homing”:
►► Assign the parameter “DeviceMode” = 10 and transmit this value to the gripper using the
“Handshake”.
ÖÖ The motor can be switched on or off.
WARNING:
Risk of injury resulting from gripper movements
Gripper movement is possible as a result of the transmission of the value.
Ensure an adequate safety distance and do not reach into the operational range of the gripper.

The gripper jaws move to the outside at low speed until they encounter the internal mechanical end stops.
If the gripper jaws encounter resistance, they stop at this spot. In the process, the “ActualPosition” parameter is
referenced to the value of 0.
ÖÖ The motor is now switched on.
8.6.2 “DeviceMode” 14
For the “DeviceMode” 14 parameter, the procedure is identical to the “DeviceMode” 10.
ÖÖ Here, you will assign the “DeviceMode” = 14 and transmit it.
NOTICE:
Gripper jaws move to the inside with this parameter!
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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.6.3 “DeviceMode” 16
WARNING:
Risk of injury due to increased force of the gripper during „Homing“.
The “Homing force” is very high with the new “DeviceMode”.
►► Make sure that an external end stop is installed in the machine or system into which the gripper is
installed.
►► If the internal end stop of the gripper is used, this will result in higher wear.

Make sure that the “DriveVelocity” is set to a low value before sending the “Homing command”.
ÖÖ Recommendation: “DriveVelocity” = 10
ÖÖ The value should be increased if greater force is required for “Homing”.

The following work steps are to be observed:

►► Assign the parameter “DeviceMode” = 3 and transmit this value to the gripper using the
“ControlWord” = 1.
ÖÖ The motor is switched on.
►► Now, transmit the following values.
Parameter Value Unit
"DeviceMode" 16
"WorkpieceNo." 0
"PositionTolerance" 50 0.01 mm
"DriveVelocity" 10 %
"BasePosition" 100 0.01 mm
"WorkPosition" 4000 0.01 mm

►► Transmit the parameter to the gripper using a “Handshake”.

ÖÖ “ControlWord” = 1
ÖÖ The parameter “BasePosition” must not be smaller than 75.
►► The gripper jaws move to the inside until they encounter the mechanical end stops. After reaching
the mechanical end stops, the gripper accepts the value of the “BasePosition” for its new
„ActualPositon“.
For example, this would be the new “ActualPosition” = 100  see table.
ÖÖ After “Homing”, the motor is switched off.
►► You can switch on the motor, switch to your movement profile and start it using the “DeviceMode”
= 3 and the “Handshake”.
The gripper answers with  "DiagnoseWord" = 0x00  The gripper is ready.

WARNING:
Gripper jamming and damage
Since the “ActualPosition” in this “DeviceMode” has an offset, the gripper does not know the position
of the internal end stop.
This makes it possible to move against the internal end stop at high speed, which can result in
jamming of and damage to the gripper.
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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.6.4 “DeviceMode” 17
WARNING:
Risk of injury due to increased force of the gripper during „Homing“.
The “Homing force” is very high with the new “DeviceMode”.
►► Make sure that an external end stop is installed in the machine or system into which the gripper is
installed.
►► If the internal end stop of the gripper is used, this will result in higher wear.

Make sure that the “DriveVelocity” is set to a low value before sending the “Homing command”.
ÖÖ Recommendation: “DriveVelocity” = 10
ÖÖ The value should be increased if greater force is required for “Homing”.

The following work steps are to be observed:

►► Assign the parameter “DeviceMode” = 3 and transmit this value to the gripper using the
“ControlWord” = 1.
ÖÖ The motor is switched on.
►► Now, transmit the following values.
Parameter Value Unit
"DeviceMode" 17
"WorkpieceNo." 0
"PositionTolerance" 50 0.01 mm
"DriveVelocity" 10 %
"BasePosition" 100 0.01 mm
"WorkPosition" 4000 0.01 mm

►► Transmit the parameter to the gripper using a “Handshake”.

ÖÖ “ControlWord” = 1
ÖÖ The parameter “WorkPosition” must not be larger than the maximum stroke (+75) of the gripper.
►► The gripper jaws move to the inside until they encounter the mechanical end stops. After reaching
the mechanical end stops, the gripper accepts the value of the “WorkPosition” for its new
„ActualPositon“.
For example, this would be the new “ActualPosition” = 4000  see table.
ÖÖ After “Homing”, the motor is switched off.
►► You can switch on the motor, switch to your movement profile and start it using the “DeviceMode”
= 3 and the “Handshake”.
The gripper answers with  "DiagnoseWord" = 0x00  The gripper is ready.

WARNING:
Gripper jamming and damage
Since the “ActualPosition” in this “DeviceMode” has an offset, the gripper does not know the position
of the internal end stop.
This makes it possible to move against the internal end stop at high speed, which can result in
jamming of and damage to the gripper.
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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.7 Interruption of the power supply

When interrupting the voltage supply (e.g. when using a tool changer), care must be taken to ensure that the
gripper stores the last position in the controller.
This can be implemented by carrying out a “Handshake” before switching off the power supply. Additionally, a
timer should delay the power supply from being switched off by 2 seconds.
ÖÖ This ensures that no change of position occurs during a restart.
INFORMATION:
An example of a code can be found in the “Quickstart Basic Parameters” chapter (recipe examples).
ÖÖ “Store recipe” and “Load recipe”

8.8 “Easy Startup”

ÖÖ From switching the gripper on to the initial movement.
The gripper is to be connected in accordance with its assignment diagram.
The gripper reports the “StatusWord”, “Diagnosis” and “ActualPosition” process parameters immediately after the
internal controller is booted up.
Once the “PLCActive” bit is registered in the “StatusWord”, the communication process can start. To move the
gripper, the process parameters must first be transmitted.
The following process parameters are to be transmitted:
• “DeviceMode”
• “WorkpieceNo”
• “PositionTolerance”
• “GripForce”
• “DriveVelocity”
• “BasePosition”
• “ShiftPosition”
• “TeachPosition”
• “WorkPosition”
A “Handshake” is required so the process parameters are transmitted to the gripper.
INFORMATION:
Please refer to the “Quickstart Basic Parameters” chapter (recipe examples) for information on the
“Handshake”.
ÖÖ Code example “Handshake”

8.9 Start of data transmission

The data transmission starts with the “ControlWord” = 1 (decimal).
Once the process parameter has been transmitted to the gripper, the gripper will report this back in the
“StatusWord” with the “DataTransferOK” bit.
The gripper is now ready for operation.
INFORMATION:
For further information on data transmission and possible positions, refer to the “StatusWord”
chapter.
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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.10 “Quickstart” basic parameters

In the following example code, you see the first initialization of the gripper, the activation of the motor and the
transmission of the process parameters.

//Initialization of the gripper,

//Motor switch-on,
//Initial move command
// = EasyStartUp Example
5:
IF StatusBit.6 THEN //Queries “PLCActive” bit in the StatusWord
ControlWord := 1; //Send bit 5 “DataTransfer” in the ControlWord for initialization
iStep:= 10; //Jump to next step
END_IF
10:
IF StatusBit.12 THEN //Queries “DataTransferOK” bit in the StatusWord
ControlWord :=0; //Reset the initialization
iStep:= 20; //Jump to next step
END_IF
20:
DeviceMode := 3; //Command to power on the motor
ControlWord :=1; //Data transmission to the gripper
iStep := 30; //Jump to the next step
30:
If StatusBit.1 THEN //Queries “MotorON” bit in the StatusWord
iStep := 40; //Jump to the next step
END_IF
40:
DeviceMode := 80; //Loading a DeviceMode
WorkpieceNo := 0; // 0 means that the current process parameters are being used
PositionTolerance := 50;
GripForce := 50;
DriveVelocity := 50;
BasePosition := 100;
ShiftPosition := 2000;
TeachPosition := 4000;
WorkPosition := 4000;
iStep := 50; //Jump to the next step
50:
ControlWord := 1; //Begins with the Handshake
iStep := 60; //Jump to the next step.
60:
IF StatusWord.12 THEN //Queries the bit “DataTransferOK”=TRUE from StatusWord, this is the
response of the gripper to transmitted data
ControlWord := 0 //ControlWord reset
iStep := 70; //Jump to the next step
END_IF;
70:
IF NOT StatusWord.12 THEN //Queries the ending of the data transmission, “DataTransferOK”= FALSE
ControlWord:= 512; //Handshake is completed, gripper now moves to WorkPosition (0x200
or 512(dec) = MoveToWork)
iStep:= 80;
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END_IF;
80:
...
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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.11 Starting gripping movement

By sending the  "ControlWord" = 0x200  the gripper moves towards the "WorkPosition", which means that
the gripper jaws are moving inward.
By sending the  "ControlWord" = 0x100  the gripper moves towards the "BasePosition", which means that
the gripper jaws are moving outward.
►►The movement order must be pending for as long as it takes until the desired position is reached.
►►The current movement order is canceled as a result of a new "Handshake".
If the gripper has reached the corresponding position, this is reported back in the "StatusWord" as follows:
• The gripper is at "BasePosition"  "StatusWord" bit 8 = TRUE
• The gripper is at "TeachPosition"  "StatusWord" bit 9 = TRUE
• The gripper is at "WorkPosition"  "StatusWord" bit 10 = TRUE
8.12 Repeated movements in the same direction
The “StatusWord” includes two static “flag bits”, each of which is set in alternation when the gripper moves in one
direction. This prevents unwanted movements of the gripper in case of faulty data transmission.
Depending on the location of the positions, it is possible to move the gripper multiple times in the same direction.
For this purpose, the direction flags must be reset.
Sending the  "ControlWord" = 0x04  activates the deletion of the direction flags.
The direction flag is reset when the gripper  answers with  "Statusbit" 13 AND 14 = FALSE.

For multiple movements in the same direction, a schematic program example is shown in the following.

//Multiple movement in one direction in Structured Text (ST)

// In this example, the motor is switched on,
// the movement profile
// gripping forces and speeds are transmitted
// The gripper is at BasePosition = 1000.
10:
BasePosition := 100; //Allocation of a new BasePosition
ControlWord := 1; //Handshake is started (“DataTransfer” bit
=TRUE in the ControlWord)
iStep := 20; //Jump to the next step
20:
IF StatusWord.12 THEN //Queries the bit “DataTransferOK”=TRUE from
StatusWord, this is the response of the gripper to
transmitted data
ControlWord := 0; //ControlWord reset
iStep := 30; //Jump to the next step
END_IF;
30:
IF NOT StatusWord.12 THEN //Queries the ending of the data transmission,
“DataTransferOK”= FALSE
ControlWord :=4; //Reset the direction flags
(“ResetDirectionFlag” bit = TRUE in the
ControlWord)
iStep := 40;
END_IF
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40:
IF NOT StatusWord.13 AND NOT StatusWord.14 THEN //Queries whether both direction flags
(“ControlWord0x100” AND “ControlWord0x200” bit
=FALSE in the ControlWord)
ControlWord := 256; //Moves back towards BasePosition
iStep := 50;
END_IF;
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50:
...

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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.13 Recipe examples

The following example code shows how process parameters can be stored in the internal workpiece recipe.
8.13.1 “Store recipe”
For storing a recipe, a schematic program example is shown in the following.

//Store tool workpiece recipes in Structured Text (ST)

10:
DeviceMode := 80; //Allocation of the desired process parameters
WorkpieceNo := 3; //Recipe is to be stored as the third workpiece recipe
PositionTolerance := 50;
GripForce := 50;
DriveVelocity := 50;
BasePosition := 100;
ShiftPosition := 2000;
TeachPosition := 4000;
WorkPosition := 4000;
iStep := 20; //Jump to the next step
20:
ControlWord := 1; //Begins with the Handshake
iStep := 30; //Jump to the next step
30:
IF StatusWord.12 THEN //Queries the bit “DataTransferOK”=TRUE from the StatusWord, this is the
response of the gripper to transmitted data
ControlWord := 0; //ControlWord reset
iStep := 40; //Jump to the next step
END_IF;
40:
IF NOT StatusWord.12 THEN //Queries the ending of the data transmission, “DataTransferOK”= FALSE
ControlWord := 2; //Handshake is completed, storage through
“WritePDU” bit in the ControlWord starts here
iStep := 50; //Jump to the next step
END_IF;
50:
IF StatusWord.12 THEN //Queries the bit “DataTransferOK”=TRUE from StatusWord
ControlWord := 0; //ControlWord reset
iStep := 60; //Jump to the next step
END_IF;
60:
IF NOT StatusWord.12 THEN //Queries the ending of the data transmission, “DataTransferOK”= FALSE,
this procedure can take several seconds
//Do other things... //Storage is completed
END_IF;
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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

8.13.2 “Load recipe”

For loading a new recipe, a schematic program example is shown in the following.

//Load workpiece recipes in Structured Text (ST)

10:
WorkpieceNo := 3; //Third workpiece recipe is to be loaded
iStep := 20; //Jump to the next step
20:
ControlWord := 1; //Begins with the Handshake
iStep := 30; //Jump to the next step
30:
IF StatusWord.12 THEN //Queries the bit “DataTransferOK”=TRUE from StatusWord, this is the
response of the gripper to transmitted data
ControlWord := 0; //ControlWord reset
iStep := 40; //Jump to the next step
END_IF;
40:
IF NOT StatusWord.12 THEN //Queries the ending of the data transmission, “DataTransferOK”= FALSE
//Do other things... //Handshake is completed, the parameters from the third recipe are
now taken over into the current process parameters
END_IF;

9. Operation
9.1 Emergency release GEH6000IL
If need be, the gripper can also be moved without a controller or voltage supply.
NOTICE:
In the event of a power failure, the position of the gripper jaws and gripping force of the gripper
remain intact.
The gripper jaws can be opened using the emergency release if the energy supply drops off.

►► To reach the emergency release, remove the

protective cap cm .
►► The emergency release can be operated using
the Allen key cn.
ÖÖ When opening the gripper fingers, make sure that
the tool in the gripper is secured!
Design size Wrench size
GEH6040IL-03-B 2.5
GEH6040IL-31-B 3.0 cm
GEH6060IL-03-B 2.5
cn
GEH6140IL-03-B 3.0
GEH6180IL-03-B 3.0
INFORMATION:
After an emergency release, another
EN / 2019-10-28

“Homing” reference run must be carried out.

If you still have questions about the emergency release, please contact Zimmer Customer Service.
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 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

9.2 Emergency release GED6000IL

If need be, the gripper can also be moved without a controller or voltage supply.
NOTICE:
In the event of a power failure, the position of the gripper jaws and gripping force of the gripper
remain intact.
The gripper jaws can be opened using the emergency release if the energy supply drops off.

►► To access the emergency release, remove the

screw cm using an Allen key . cn
►► The emergency release can be operated with the
appropriate Allen key .
cn
ÖÖ When opening the gripper fingers, make sure that
the tool in the gripper is secured!
Design size Wrench size
GED6040IL-03-A 2.5
GED6040IL-31-A 2.0
GED6140IL-03-A 3.0 cm
cn
INFORMATION:
After an emergency release, another “Homing” reference run must be carried out.
If you still have questions about the emergency release, please contact Zimmer Customer Service.

10. Gripping force charts

INFORMATION:
You can find the gripping force charts on the technical data sheet on our website
 www.zimmer-group.com
If you should have further questions about the gripping force charts, please contact Zimmer GmbH
Customer Service.

11. Troubleshooting
Error code Error Possible cause Measure

0x0000 No error - -

• Motor was not activated after

►►Switch on motor.
0x0001 Motor is switched off power on.
►►With "DeviceMode" = 3
• Motor was switched off.
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►►Wait until the reference run is

0x0002 Gripper performs a reference run • Gripper is in a reference run.
complete.

• The gripper is in the start ►►Wait until the start sequence is

0x0003 System boots up
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sequence. complete.

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INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

Error code Error Possible cause Measure

• The actuator voltage is not

0x0100 Actuator voltage is too low present. ►►Check the applied voltage.
• The applied voltage is too low.

• Ambient temperature is too ►►Provide sufficient ventilation/

high. cooling/connection.
Max. permitted temperature
0x0101 • Overload of the gripper. ►►Check the ease of movement.
exceeded
• Incorrect movement profile ►►Choose the selected move-
selected. ment profile.

Max. permitted temperature • Ambient temperature is too ►►Provide a sufficient operating

0x0102
undershot low. temperature.

0x0200 IO-Link communication faulty •- ►►-

0x0201 SPI communication faulty •- ►►-

0x0202 CAN communication faulty •- ►►-

►►Check the connection.

• The voltage level of the STO
0x0204 STO safety circuit interrupted ►►Switch on the STO safety
safety circuit is insufficient.
circuit.

►►In the "ControlWord", only one

• Multiple bits were set in the single bit may be set.
0x0300 "ControlWord" not available
"ControlWord".
►►Check the "ControlWord".

• Transmitted positions (Teach,

►►Check the transmitted process
Base, Shift, WorkPosition) are
data.
0x0301 Positions not available incorrect.
►►Apply the process data via a
• Modified process data were
"Handshake".
not taken over.
►►Check the transmitted process
• Transmitted "GripForce" is not
data.
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correct.
0x0302 "GripForce" not available ►►Confirm the newly transmitted
• Modified process data were
process data with a "Hand-
not taken over.
shake".
►►Check the transmitted process
• Transmitted "SpeedValue" is
data.
not correct.
0x0303 "SpeedValue" not available ►►Confirm the newly transmitted
DDOC00212 / l

• Modified process data were

process data with a "Hand-
not taken over.
shake".

Zimmer GmbH ● Im Salmenkopf 5 ●  77866 Rheinau, Germany ●  +49 7844 9138 80 ●  +49 7844 9138 80 ● www.zimmer-group.com 39
 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

Error code Error Possible cause Measure

►►Check the transmitted process
• Transmitted "TeachTolerance"
data.
is not correct.
0x0304 "TeachTolerance" not available ►►Confirm the newly transmitted
• Modified process data were
process data with a "Hand-
not taken over.
shake".

• Gripper has been moved with-

Position measuring system not out operating voltage. ►►Reference gripper by means
0x0305
referenced • Internal error in the position of a "HomingCommand".
measuring system.

►►Check the transmitted process

• Transmitted "DeviceMode" not
data.
correct.
0x0306 "DeviceMode" not available ►►Confirm the newly transmitted
• Modified process data were
process data with a "Hand-
not taken over.
shake".

• Multiple errors in the same

Movement order cannot be direction. ►►Reset the direction flag and
0x0307
carried out • Move command transmitted resend the move command.
despite existing error.

• Transmitted workpiece number

►►Check the values of the "Work-
is outside the permitted range
pieceNo." parameter
0x0308 "WorkpieceNo." not available 0 to 32.
►►Apply the process data via a
• Modified process data were
"Handshake"
not taken over.

• In "force mode", transmitted

Calculated "ShiftPosition" ex-
0x313 "BasePosition" is less than the ►►Move to "Base".
ceeded
"actual position"

• Gripper jaws are blocked. ►►Check the gripper's freedom

0x0400 Difficulty of movement of movement.
• Gripper jaws are tensioned
incorrectly. ►►Error must be acknowledged.

0x0401 Current limit exceeded •- ►►-

• Gripper jaws are blocked. ►►Check the gripper's freedom

0x0402 Jam of movement.
• Gripper jaws are tensioned
incorrectly. ►►Error must be acknowledged.

0x0406 System/internal error • Internal error ►►-

EN / 2019-10-28
DDOC00212 / l

40 Zimmer GmbH ● Im Salmenkopf 5 ●  77866 Rheinau, Germany ●  +49 7844 9138 80 ●  +49 7844 9138 80 ● www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

12. Maintenance
Maintenance-free operation of the gripper is guaranteed for up to 5 million cycles.
The maintenance interval may shorten under the following circumstances:
• Dirty environment
• Improper use and use that does not comply with the power specifications.
• Observe ambient temperature; lubricants harden faster!
Even though the gripper is, as mentioned, maintenance-free, perform a regular visual inspection to check for any
corrosion, damage or contamination.
We recommend using the Zimmer Customer Service for maintenance and the replacement of seals.
Dismantling and reassembling the gripper without authorization may result in complications, as special installation
equipment is required in some cases.
Zimmer GmbH shall not be liable in the event of unauthorized dismantling and reassembling of the gripper or in the
event of any malfunction or damage resulting from this.

13. Accessories/scope of delivery

INFORMATION:
If any accessories not marketed or authorized by Zimmer GmbH are used, the function of the gripper
cannot be guaranteed.
The accessories from Zimmer GmbH are specifically fitted for the individual grippers.
Information on the corresponding optional accessories included in the scope of delivery can be found
at
www.zimmer-group.com.

14. Transportation/storage/preservation
►► The transport and storage of the gripper must take place exclusively in the original packaging.
►► If the gripper has already been installed on the higher-level machine unit, it must be ensured during transport that no
unintentional movements may take place. Before commissioning the machine after transport, check all power and
communication connections as well as all mechanical connections.
►► If the product is stored for an extended period, the following points are to be observed:
ÖÖ Keep the storage location as dust-free and dry as possible.
ÖÖ Avoid temperature fluctuations/observe and adhere to the temperature range.
ÖÖ Avoid wind/drafts/water condensation formation.
ÖÖ Package the product.
ÖÖ During storage, it must be kept from direct sunlight.
►► Clean all components. There must be no impurities left on the components.
►► Visually inspect all of the components.
►► Remove all foreign objects.
►► Properly remove potential corrosion spots.
►► Close electrical connections using suitable covers.

15. Decommissioning and disposal

INFORMATION:
If the gripper reaches the end of its utilization phase, the gripper can be completely disassembled
and disposed of. Disconnect the gripper from the power supply completely. The gripper can be
disassembled and properly disposed of according to material groups. When disposing of it, observe
the locally applicable environmental regulations and codes and regulations for disposal.
EN / 2019-10-28
DDOC00212 / l

Zimmer GmbH ● Im Salmenkopf 5 ●  77866 Rheinau, Germany ●  +49 7844 9138 80 ●  +49 7844 9138 80 ● www.zimmer-group.com 41
 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

16. RoHS declaration

In terms of the EU Directive 2011/65/EU

Name and address of the manufacturer:

Zimmer GmbH
77866 Rheinau, Im Salmenkopf 5
 +49 7844 9138 0
 +49 7844 9138 80
 www.zimmer-group.com

We hereby declare that the incomplete machine described below

Product designation: 2-jaw parallel gripper, electric
Type designation: GEH6IL--B series
conforms to the requirements of the directive in its design and the version we put on the market.

Authorized representative for the compilation of

relevant technical documents
Michael Hoch See manufacturer's address Rheinau, Germany, 2019-10-28 Martin Zimmer
(Legally binding signature)
First name, last name Address (Place and date of issuance) Managing Partner

17. REACH declaration

In terms of the EU Regulation 1907/2006

Name and address of the manufacturer:

Zimmer GmbH
77866 Rheinau, Im Salmenkopf 5
 +49 7844 9138 0
 +49 7844 9138 80
 www.zimmer-group.com

REACH stands for Registration, Evaluation, Authorisation and Restriction of Chemicals.

A full declaration of REACH can be obtained from the manufacturer due to the duty to notify in accordance with Art. 33
of the REACH regulation (“Duty to communicate information on substances in articles”).

Authorized representative for the compilation of

relevant technical documents
Michael Hoch See manufacturer's address Rheinau, Germany, 2019-10-28 Martin Zimmer
(Legally binding signature)
First name, last name Address (Place and date of issuance) Managing Partner
EN / 2019-10-28
DDOC00212 / l

42 Zimmer GmbH ● Im Salmenkopf 5 ●  77866 Rheinau, Germany ●  +49 7844 9138 80 ●  +49 7844 9138 80 ● www.zimmer-group.com
INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

18. Declaration of Incorporation

In terms of the EU Machinery Directive 2006/42/EC (Annex II 1 B)

Name and address of the manufacturer:

Zimmer GmbH
77866 Rheinau, Im Salmenkopf 5
 +49 7844 9138 0
 +49 7844 9138 80
 www.zimmer-group.com
We hereby declare that the incomplete machines described below
Product designation: 2-jaw parallel gripper, electric
Type designation: GEH6IL--B series
conform to the requirements of the Machinery Directive, 2006/42/EC, Article 2g, Annex VII.b – Annex II.b, in its design
and the version we put on the market.
The following harmonized standards have been used:
Basic health and safety requirements:
No. 1.1.2, No. 1.1.3, No. 1.1.5, No. 1.3.1, No. 1.3.2, No. 1.3.4, No. 1.3.7, No. 1.5.1, No. 1.5.3, No. 1.5.4, No. 1.6.4, No.
1.7.1, No. 1.7.3.
DIN EN ISO 12100:2011-03 Safety of machinery - General principles for design - Risk assessment and risk reduction
DIN EN 60204-1 Safety of machinery – Electrical equipment of machines, part 1
DIN EN ISO 13849-1 Safety of machinery – Safety-related parts of control systems
DIN EN ISO 13849-2 Safety related parts of control system
A full list of applied standards can be obtained from the manufacturer.
Commissioning of the incomplete machine is prohibited until it has been found that—where applicable—the
machine in which the above-mentioned incomplete machine is to be installed complies with the Machinery
Directive (2006/42/EC).

Authorized representative for the compilation of

relevant technical documents
Kurt Ross See manufacturer's address Rheinau, Germany, 2019-10-28 Martin Zimmer
(Legally binding signature)
First name, last name Address (Place and date of issuance) Managing Partner

EN / 2019-10-28
DDOC00212 / l

Zimmer GmbH ● Im Salmenkopf 5 ●  77866 Rheinau, Germany ●  +49 7844 9138 80 ●  +49 7844 9138 80 ● www.zimmer-group.com 43
 INSTALLATION AND OPERATING INSTRUCTIONS: 2-jaw parallel grippers with long stroke, electric, GEH6000IL series
INSTALLATION AND OPERATING INSTRUCTIONS: 3-jaw concentric grippers with long stroke, electric, GED6000IL series

19. Declaration of Conformity

In terms of the EC Directive 2014/30/EC on electromagnetic compatibility

Name and address of the manufacturer:

Zimmer GmbH
77866 Rheinau, Im Salmenkopf 5
 +49 7844 9138 0
 +49 7844 9138 80
 www.zimmer-group.com
We hereby declare that the products described below
Product designation: 2-jaw parallel gripper, electric
Type designation: GEH6IL--B series
conform to the requirements of the Electromagnetic Compatibility Directive 2014/30/EU in their design and the version
we put on the market.
The following harmonized standards have been used:
DIN EN ISO 12100:2011-03 Safety of machinery - General principles for design - Risk assessment and risk reduction
DIN EN 61000-6-3 EMC Generic standard, Emission standard for residential, commercial and light-industrial
environments
DIN EN 61000-6-2 EMC Generic standard, Immunity for industrial environments
DIN EN 61000-6-4 EMC Generic standard, Emission standard for industrial environments
A full list of applied standards can be obtained from the manufacturer.

Authorized representative for the compilation of

relevant technical documents
Kurt Ross See manufacturer's address Rheinau, Germany, 2019-10-28 Martin Zimmer
(Legally binding signature)
First name, last name Address (Place and date of issuance) Managing Partner
EN / 2019-10-28
DDOC00212 / l

44 Zimmer GmbH ● Im Salmenkopf 5 ●  77866 Rheinau, Germany ●  +49 7844 9138 80 ●  +49 7844 9138 80 ● www.zimmer-group.com