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Summary of Contents for SCHUNK PW V6
- Page 1 Translation of the original manual Servo-Electric Rotary Pan-Tilt Actuator PW V6 Assembly and Operating Manual Superior Clamping and Gripping...
- Page 2 Imprint Copyright: This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely supplied to our customers and operators of our products and forms part of the product. This documentation may not be duplicated or made accessible to third parties, in particu- lar competitive companies, without our prior permission.
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Page 3: Table Of Contents
7 Design and description .................... 21 7.1 Design ........................21 7.2 Description ......................21 7.3 Connection board ....................22 7.4 LED .......................... 24 8 Assembly and installation ..................25 8.1 Mechanical connection ..................25 8.2 Electrical connection ....................27 01.00|PW V6 |en... - Page 4 8.6 Combination of multiple products ................. 36 8.7 Commissioning the product ................... 37 8.7.1 Connect the product to the computer............38 8.7.2 Open Motion Tool Schunk (MTS) ..............39 8.7.3 Performing initial commissioning ............... 42 8.8 Set the product to its factory settings ..............44 8.9 Updating firmware ....................
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Page 5: About This Manual
Non-compliance will inevitably cause irreversible injury or death. WARNING Dangers for persons. Ignoring a safety note like this can lead to irreversible injury and even death. CAUTION Dangers for persons. Non-observance can cause minor injuries. NOTICE Material damage Information about avoiding material damage. 01.00|PW V6 |en... -
Page 6: Applicable Documents
• Catalog data sheet of the purchased product * • Assembly and Operating manuals of the accessories * • Software manual – Motion Control * The documents marked with an asterisk (*) can be downloaded on our homepage www.de.schunk.com. 01.00|PW V6 |en... -
Page 7: Basic Safety Notes
• Constructional changes may be only done with permission from SCHUNK. Spare parts Use of unauthorized spare parts Using unauthorized spare parts can endanger personnel and dam- age the product or cause it to malfunction. • Use only original spare parts or spares authorized by Schunk. 01.00|PW V6 |en... -
Page 8: Environmental And Operating Conditions
• Ensure that the product is protected against sprayed water, va- pors, contamination, and EMC influences during operation. • Make sure that the product's range of application is outside the explosive area. Excepted are products which were designed for explosive areas. 01.00|PW V6 |en... -
Page 9: Personnel Qualification
Service personnel of Due to their technical training, knowledge and experience, service the manufacturer personnel of the manufacturer is able to perform the delegated tasks and to recognize and avoid possible dangers. 01.00|PW V6 |en... -
Page 10: The Use Personal Protective Equipment
• Do not expose the product to any corrosive media. • Rectify malfunctions as soon as they occur. • Observe the care and maintenance instructions. • Observe the current safety, accident prevention, and environ- mental protection regulations for the application field of the product. 01.00|PW V6 |en... -
Page 11: Transport
Handling of disposal The incorrect handling of disposal can make the product unsafe and risk the danger of serious injuries and considerable material and environmental harm. • Follow local regulations on dispatching product components for recycling or orderly disposal. 01.00|PW V6 |en... -
Page 12: Fundamental Dangers
Incorrect lifting of loads Falling loads can cause serious injuries and even death. • Stand clear of suspended loads and do not step within their swiveling range. • Never move loads without supervision. • Do not leave suspended loads unattended. 01.00|PW V6 |en... -
Page 13: Protection During Commissioning And Operation
GENCY STOP switches must be easily and quickly accessible. Be- fore starting up the machine or system, check that the EMER- GENCY STOP system is working. Prevent operation of the ma- chine if this protective equipment does not function correctly. 01.00|PW V6 |en... -
Page 14: Protection Against Electric Shock
• The equipotential bonding must be implemented by a specialist electrician in line with the applicable regulations while paying particular attention to the actual conditions in the working en- vironment. • The effectiveness of the equipotential bonding must be verified by regular safety measurements. 01.00|PW V6 |en... -
Page 15: Protection Against Magnetic And Electromagnetic Fields
A special additional EMC test may be necessary if the system has a high risk potential. 01.00|PW V6 |en... -
Page 16: Notes On Particular Risks
Components may move unexpectedly and cause injuries if the pow- er supply is still on or if there is residual energy in the system left. • Switch off power supply. • Ensure that no residual energy remains in the system. 01.00|PW V6 |en... - Page 17 Electronic devices are not fail-safe. In case of failure of the ener- gy, the gripping force decreases. Thereby it can not be guaran- teed that the workpiece is held safely. • The user is responsible that the drive reverts to a safe state,in case of energy failure. 01.00|PW V6 |en...
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Page 18: Warranty
• Observe the environmental and operating conditions ( 2.5, Page 8) • Observe the mandatory maintenance and lubrication intervals.( 10, Page 52) Parts touching the work piece and wearing parts are not part of the warranty. 01.00|PW V6 |en... -
Page 19: Scope Of Delivery
Accessories Scope of delivery The scope of delivery includes • Servo-electric rotary pan-tilt actuator PW V6 in the ordered model • M5 plug for RS232 interface • Adaptor cable, USB to M5 plug (length 2 m) • DVD Contents of DVD: •... -
Page 20: Technical Data
Max. current [A] Control electronics Power supply [VDC] Interface CAN bus [max. 1 Mbit/s] Profibus DP [1.5 Mbit/s] RS232, parameterization interface More technical data are included in the catalog data sheet. Whi- chever is the latest version. 01.00|PW V6 |en... -
Page 21: Design And Description
Either a Profibus or a CAN bus can be used as the bus system. The Profibus address range is between 0 and 127 and the CAN bus range is between 0 and 255. The RS232 interfaces are used to parameterize the axes of the ro- tary pan-tilt actuator. 01.00|PW V6 |en... -
Page 22: Connection Board
LED1 Logic voltage LED Motor voltage +24V DIP switches for Profibus DIP switches for Boot and termination and CAN bus Default termination X1/X2 Marking Function PB_A Profibus_A PB_B Profibus_B CAN_H CAN bus_H CAN_L CAN bus_L 01.00|PW V6 |en... - Page 23 If the product is the last device on the Profibus, all three Profibus termination DIP switches must be in the ON position. -If the product is not the last device on the Profibus, all three Pro- fibus termination DIP switches must be in the OFF position. 01.00|PW V6 |en...
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Page 24: Led
• Does not light up if there is no voltage in the product. Green Motor voltage Indicates whether the motor voltage is connected. • Lights up as long as voltage is present in the product. • Does not light up if there is no voltage in the product. 01.00|PW V6 |en... -
Page 25: Assembly And Installation
1 Connect the product to the machine/system with screws. Use suitable connecting elements (adapter plates) if necessary. Observe the permissible depth of engagement. Observe the tightening torque for the mounting screws. 01.00|PW V6 |en... - Page 26 Assembly and installation Assembly option PW V6 Fastening screws Centering sleeves Connecting element Depth of engagement and tightening torque Mounting material (provided by the customer) Designation PW V6 70 PW V6 90 Base Axis 2 Base Axis 2 plate plate Centering sleeve [Ø]...
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Page 27: Electrical Connection
• Ensure discharge of regenerative energy on customer's pre- mises. SCHUNK recommends the use of a brake chopper (Type: ACC3EA001 ID number 9951504). The response thre- shold of the utilized brake chopper must be set as follows: For 24 V operation: set the brake chopper to 28 V or "0"... -
Page 28: Rs232 Interface
The tilt axis (Axis 1) and the swivel axis (Axis 2) can be paramete- rized via the respective RS232 interfaces, ( 8.7, Page 37). RS232 interface Color Designation Brown n. c. White Blue Black 01.00|PW V6 |en... -
Page 29: Can Bus Interface
Assembly and installation 8.2.2 CAN bus interface CAN bus circuit diagram 01.00|PW V6 |en... - Page 30 Assignments of the terminal strip X1 and the energy supply (Cable 2) Connection Terminal SCHUNK cable color Logic connection +24V 0.25 mm² Blue 0.25 mm² Power voltage supply +24V 2.5 mm² Blue 2.5 mm² CAN assignment of the 9-pin D-sub socket D-sub socket solder side Terminal CAN_L CAN_H 01.00|PW V6 |en...
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Page 31: Interface Profibus Dp
Assembly and installation 8.2.3 Interface Profibus DP Profibus DP circuit diagram 01.00|PW V6 |en... - Page 32 Connection Terminal SCHUNK cable color Logic connection +24V 0.25 mm² Blue 0.25 mm² Power voltage supply +24V 2.5 mm² Blue 2.5 mm² Profibus DP assignment of 9-pin D-sub plug D-sub plug solder side Terminal X1 PB_B PB_A 01.00|PW V6 |en...
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Page 33: Installing And Connecting
11 Set terminating resistor for CAN bus or Profibus on the last product, ( 8.2.2, Page 29) ( 8.2.3, Page 31). 12 Start up the product, ( 8.7, Page 37). Logic voltage LED lights up. Motor voltage LED lights up. 01.00|PW V6 |en... -
Page 34: Connecting Ground Cable
Always mount the ground cable singly. Always use all components of the screw connection and install them in this order: plain washer, cable lug, and toothed lock washer. See "Ground connection" diagram. 01.00|PW V6 |en... -
Page 35: Installing Connection Cap
3 Pull the connection cable through the metric cable fitting (6). 4 Strip approx. 50 mm of insulation from the connection cable. 5 Strip approx. 5 mm of the individual wires. 6 Push the outer shielding of the connection cable back over the cable sheath. 01.00|PW V6 |en... -
Page 36: Combination Of Multiple Products
Product n to Product n+1. The wires from Terminal X2 of the product are clamped in Terminal X1 of Product n+1. The terminating resistor for CAN bus or Profibus must be set on the last product, ( 8.2.2, Page 29) ( 8.2.3, Page 31). 01.00|PW V6 |en... -
Page 37: Commissioning The Product
The product is commissioned by means of the Motion Tool Schunk (MTS) configuration and commissioning tool. The Motion Tool Schunk (MTS) can be opened via the DVD or di- rectly on the computer. To open the Motion Tool Schunk (MTS) di- rectly on the computer, you must copy the MTS folder to a direc- tory of your choice on the computer. -
Page 38: Connect The Product To The Computer
( 8.7.1, Page 38). 2 Open Motion Tool Schunk (MTS) via mts.exe, ( 8.7.2, Page 39). 3 Perform initial commissioning via Motion Tool Schunk (MTS), ( 8.7.3, Page 42). 8.7.1 Connect the product to the computer Procedure for Windows 7... -
Page 39: Open Motion Tool Schunk (Mts)
Procedure for Windows 7 The computer is connected to the product via the RS232 inter- face 1 Open Motion Tool Schunk (MTS) by using mts.exe. The program window is displayed. 2 Go to Settings and choose Open Communication… from the menu. - Page 40 Assembly and installation The Open Communication window appears. 3 Select the Serial Generic interface and the customer-specific channel, set the baud rate, and press the Select button. 4 Go to Module and select Search Bus. 01.00|PW V6 |en...
- Page 41 The product window is displayed. NOTE In the product window, you can view the status of the product, change parameters, and test Schunk Motion Protocol (SMP) com- mands; see the Motion Control document. 01.00|PW V6 |en...
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Page 42: Performing Initial Commissioning
1 Click the Movement button. Additional control elements for motion commands are dis- played. 2 Click the Move button. The product moves in the defined cycle. 3 To test further SMP commands, choose the Module option. 01.00|PW V6 |en... - Page 43 Assembly and installation 4 To set parameters, select the Parameters option. 01.00|PW V6 |en...
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Page 44: Set The Product To Its Factory Settings
5 Switch Default DIP switch (2) to OFF position. 6 Disconnect product from the power supply and reconnect again. 7 Screw on the cover of the connection cap. The product is now reset to its factory settings. 01.00|PW V6 |en... -
Page 45: Updating Firmware
1.5.0 1.5.5 1.5.6 Compatibility NOK The program version of the Motion Tool Schunk (MTS) is shown at the top of the program window. The software version is displayed on the General Information tab under Software Version. The firmware version of the product can be found in the product window by choosing Module and then Module Information. -
Page 46: System Structure
Data format The data is transferred in Intel (Little Endian) format. NOTE The number of products connected depends on which bus system is used. A maximum of 255 IDs can be assigned; see the Motion Control document. 01.00|PW V6 |en... -
Page 47: Schunk Motion Protocol
D-Len always has a value that is not equal to "0x02". If the request fails, D-Len will have the value "0x02". NOTE For more information on the special features of the different bus systems, see the Motion Control document. 01.00|PW V6 |en... -
Page 48: Most Important Commands
Response (Slave -> Master): "OK" (0x4F4B) if successful. The prod- uct executes the command. Other: Spontaneous response possible Example for REFERENCE D-Len Param Meaning M -> S 0x01 0x92 S -> M 0x03 0x92 0x4F0x4B Successfully referenced 01.00|PW V6 |en... - Page 49 Other: Spontaneous message is possible if the product is no longer moving. Example for MOVE VEL D-Len Param Meaning M -> S 0x05 0xB5 0x9A 0x99 Execute speed move- 0x31 0x41 ment with 11.1 [mm/s] S -> M 0x05 0xB5 0x4F 0x4B 01.00|PW V6 |en...
- Page 50 Others: If all errors have been successfully acknowledged, an "IN- FO NO ERROR“ info message is sent after sending "OK“ (0x4F4B). Example for CMD ACK D-Len Param Meaning M -> S 0x01 0x8B S -> M 0x03 0x8B 0x4F 0x4B 01.00|PW V6 |en...
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Page 51: Trouble Shooting
If the delivered GSD file has been integrated, the product can report this by means of the ERROR_CABLE_BREAK (0x76) parameter. Possible cause Corrective action Bus cable fault (connection interrupted) Check bus cable for damage and replace if necessary. For more troubleshooting, see Motion Control. 01.00|PW V6 |en... -
Page 52: Maintenance And Care
Any repair work on the product may only be carried out by SCHUNK. 10.2 Disassembling the product NOTICE Risk of damage to the product! Faulty disassembly of the product can cause damage to the me- chanics and internal electronics. • Allow only SCHUNK to disassemble the product. 01.00|PW V6 |en... -
Page 53: Translation Of Original Declaration Of Incorporation
European Parliament and of the Council on machinery. The declaration is rendered invalid if modifications are made to the product. Product designation: Servo-electric rotary pan-tilt actuator / PW V6 / elektric ID number 0307330; 0307332; 0307333 The incomplete machine may not be put into operation until conformity of the machine into which the incomplete machine is to be installed with the provisions of the Machinery Directive (2006/42/EC) is confirmed. - Page 54 Notes Notes 01.00|PW V6 |en...
- Page 55 Notes Notes 01.00|PW V6 |en...
- Page 56 Notes Notes 01.00|PW V6 |en...
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