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SCHUNK SRU-plus EDF Series Assembly And Operating Manual

Pneumatic swivel unit plus with electrical feed-through
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Translation of the original operating manual
Pneumatic Swivel Unit plus with electrical
feed-through
SRU-plus EDF 20 - 60
Assembly and Operating Manual
Superior Clamping and Gripping

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Summary of Contents for SCHUNK SRU-plus EDF Series

  • Page 1 www.comoso.com Translation of the original operating manual Pneumatic Swivel Unit plus with electrical feed-through SRU-plus EDF 20 - 60 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.

  • Page 3: Table Of Contents

    www.comoso.com Table of contents Table of contents 1 About this manual ....................5 1.1 Warnings ........................5 1.1.1 Key words ...................... 5 1.1.2 Symbols ......................5 1.2 Variants ........................6 1.3 Applicable documents ....................8 2 Basic safety notes ....................9 2.1 Intended use ......................
  • Page 4 www.comoso.com Table of contents 6.5.4 Pin allocation for SRU-plus 20-60 EDF Version D ........33 7 Function and handling ..................... 35 7.1 Base unit ......................... 35 7.2 Center position (variant M) ..................36 7.3 Locked center position (variant VM) ..............37 7.3.1 Mounting the separating sleeve ..............

  • Page 5: About This Manual

    www.comoso.com About this manual About this manual This instruction is an integral part of the product and contains im- portant information for a safe and proper assembly, commission- ing, operation, maintenance and help for easier trouble shooting. Before using the product, read and note the instructions, especial- ly the chapter "Basic safety notes".

  • Page 6: Variants

    www.comoso.com About this manual Variants This operating manual applies for the following variations • SRU-plus • SRU-plus Rotating angle 90° • SRU-plus Rotating angle 180° • SRU-plus End position adjustability 3° • SRU-plus End position adjustability 90° • SRU-plus With media feed-through •...
  • Page 7 www.comoso.com About this manual Fig. 1 Type designation Fig. 2 Overview of SRU-plus EDF SRU-plus with MDF Sensor holder with sen- Distributor plate (stan- dard) EDF flange (standard) Monitoring with movable cam EDF flange (version "D") 6 Monitoring with fixed Distributor plate (version "D") 01.05|SRU-plus EDF 20 - 60|en...

  • Page 8: Applicable Documents

    About this manual Applicable documents • SCHUNK catalog Rotary modules • Assembly and Operating manuals of the accessories • General terms of business The documents listed here, can be downloaded on our homepage www.schunk.com 01.05|SRU-plus EDF 20 - 60|en...

  • Page 9: Basic Safety Notes

    www.comoso.com Basic safety notes Basic safety notes Intended use The product was designed to swivel permissible attachments or workpieces. For use with the robot for applications with endless movement and feed-through of electrical signals and pneumatics The product is intended for installation in a machine/system. The requirements of the applicable guidelines must be observed and complied with.

  • Page 10: Product Safety

    Provide protective equipment per EC Machinery Directive. 2.4.2 Constructional changes, attachments, or modifications Additional drill holes, threads, or attachments that are not offered as accessories by SCHUNK may be attached only with permission of SCHUNK. Personnel qualification The assembly, initial commissioning, maintenance, and repair of the product may be performed only by trained specialist person- nel.

  • Page 11: Using Personal Protective Equipment

    www.comoso.com Basic safety notes Using personal protective equipment When using this product, observe the relevant industrial safety regulations and use the personal protective equipment (PPE) re- quired! • Use protective gloves, safety shoes and safety goggles. • Observe safe distances. •...
  • Page 12 www.comoso.com Basic safety notes WARNING Risk of injury from objects falling and being ejected • The danger zone must be surrounded by a safety fence during operation. WARNING Risk of injury when the machine/system moves unexpectedly due to failure of the energy supply or malfunction of the con- troller.

  • Page 13: Warranty

    www.comoso.com Warranty / Scope of delivery Warranty The warranty is valid for 24 months from the delivery date to the production facility under the following conditions: • Intended use in 1-shift operation • Observe the mandatory maintenance and lubrication intervals •...

  • Page 14: Technical Data

    www.comoso.com Technical data Technical data Basical data Designation Value Noise emission [dB(A)] ≤70 Pressure medium Compressed air, compressed air quality according to ISO 8573-1:7 4 4 Min. pressure [bar] See data sheet Max. pressure [bar] See data sheet Basic data of the EDF Designation Value Ambient temperature...

  • Page 15: Assembly

    www.comoso.com Assembly Assembly Mechanical connection 6.1.1 Assembly of the unit on an adapter plate (robot-side) Fig. 3 Mounting of the SRU-plus with EDF-plus at the adapter plate 1 Use thread on the base side of the rotary actuator SRU-plus. 2 The centering sleeves from the accessory pack have to be used for positioning the unit.

  • Page 16: Assembly Of The Unit On An Adapter Plate (Tool-Side)

    www.comoso.com Assembly 6.1.2 Assembly of the unit on an adapter plate (tool-side) Fig. 4 Connections at the rotating distributor 1 In case the direct air acceptance is used, the set-screws (2) have to be removed and the hose connections have to be replaced by seal plugs (accessory pack) at the lateral air connections (1).

  • Page 17: Air Connection

    www.comoso.com Assembly • The electronics can now be connected. Air connection DANGER Danger of explosion in explosion risk areas! • Follow the instructions in supplementary sheet "Installation and operating instructions - EX" for modules in explosion- resistant versions (EX)! WARNING Risk of injury when the machine/system moves unexpectedly! Remove the energy supplies.
  • Page 18 www.comoso.com Assembly Fig. 5 compressed air connections A, B, C and D Item Designation Description Function Hose-free Swiveling 90° - 0° / 180° - 0° direct connection Swiveling 0° -90° / 0° - 180° Approach center position (M) Extend locking piston (VM) Hose connection Approach center position (M) Extend locking piston (VM)
  • Page 19 www.comoso.com Assembly Air connection for 1 The air connections labeled "C" and "D" must be pressurized variants with together (with intersection). center position (M) NOTICE In the variant with locked center position, this can cause malfunctions! • Do not install an exhaust air throttle. •...

  • Page 20: Adjusting The Limit Positions

    www.comoso.com Assembly Adjusting the limit positions 6.3.1 Basic setting 0° and 180° Fig. 6 Basic setting Stop A Hexagon socket Stop B screw Basic setting 0° 1 Unscrew the screw (2) with hexagon socket wrench (SRU- plus20-40: 4; SRU-plus50-60: 5) about one rotation. 2 Actuate air connection "B".

  • Page 21: Shock Absorber Stroke Fine Adjustment 0° And 180

    www.comoso.com Assembly Basic setting 180° 1 Ventilate air connection "B" and actuate air connection "A". The module swivels to stop B (3). 2 Set the desired end position by twisting stop B (3). (For the SRU-plus 50-60, reduce pressure before adjusting) 3 Check the setting: ventilate air connection "A"...
  • Page 22 www.comoso.com Assembly Setting the dampen- 1 Remove the cover (5). ing for end position 2 Secure stop A (1) with 19 (SRU-plus 20-25) or 0° (SRU-plus 30-60) and loosen the nut (3) on the stop pin with (4) A with 14 (SRU-plus 20-25) or 24 (SRU-plus 30-60).

  • Page 23: Adjusting The Center Position (Variant M)

    www.comoso.com Assembly 6.3.3 Adjusting the center position (variant M) Fig. 8 Adjusting the center position Stop B Interior Limiting sleeve screw Stop A Stop C Stop D 1 Loosen the screw (3) about one turn with hexagon socket wrench (SRU-plus 20-40: 4;...

  • Page 24: Adjusting The Center Position (Variant Vm)

    www.comoso.com Assembly 6.3.4 Adjusting the center position (variant VM) NOTICE The lock could be damaged! • Pay attention to the description of ( 7.3, Page 37). Depending on the start-up direction of (stop A (2) or stop B (1)), the center position can be set the same or differently. Fig.

  • Page 25: Sensors

    2 If you require further information on sensor operation, con- tact your SCHUNK contact person or download information from our homepage. 3 Technical data of the sensors are contained in the data sheets (included in the scope of delivery).

  • Page 26: Magnetic Switch Mms 22

    www.comoso.com Assembly 6.4.1 Magnetic switch MMS 22 The magnetic switches can be mounted via four grooves in the module housing. The setting of the switching positions must be done as follows: 1 Turn the unit to the required swivel angle. 2 Push the magnetic switch into the groove.
  • Page 27 www.comoso.com Assembly • Do not pull on the cable. • Do not allow the sensor to dangle from the cable. • Do not overtighten the mounting screw or mounting clip. • Please adhere to the permitted bend radius of the cable. (☞...
  • Page 28 www.comoso.com Assembly Assembly of the proximity switches NOTICE When swiveling, ensure that the switch cams do not collide with the sensors. The proximity switches can be secured in three different positions: • Stop A • Center position • Stop B The following assembly steps are the same for all three mounting positions: 94-2...
  • Page 29 www.comoso.com Assembly Note The following steps 4 and 5 only apply for washers with mov- able cams. 4 Undo set-screws (10 and 12) of the control cams (9 and 13). Move the switch cams (9 and 11) until they are positioned to the same height as the corresponding clamping sleeve.

  • Page 30: Cable Assignments

    www.comoso.com Assembly Cable assignments 6.5.1 Connection overview, SRU-plus 20-60 EDF Fig. 12 SRH-plus 20-35 standard Fig. 13 SRH-plus 40-60 standard Bending radius Minimum bending radius for constant movement: 10 x cable diameter 01.05|SRU-plus EDF 20 - 60|en...

  • Page 31: Pin Allocation For Sru-Plus 20-60 Edf

    www.comoso.com Assembly 6.5.2 Pin allocation for SRU-plus 20-60 EDF Fig. 14 Pin allocation, connection plug M16 Pin sensor connection Connec- EDF for SRU-plus 20-35 EDF for SRU-plus 40-60 tion plug Switching signal, sensor 3 Switching signal, sensor 3 GND (common) GND (common) Switching signal, sensor 2 Switching signal, sensor 2 Switching signal, sensor 4 Switching signal, sensor 4...

  • Page 32: Connection Overview, Sru-Plus 20-35 Version D

    Assembly NOTE The allocation of the housing receptacles on the output side for connecting sensors can be found in the documentation of the Schunk sensors. 6.5.3 Connection overview, SRU-plus 20-35 Version D Fig. 15 SRH-plus 20-35 Version "D" Fig. 16 SRH-plus 40-60 Version "D"...

  • Page 33: Pin Allocation For Sru-Plus 20-60 Edf Version D

    www.comoso.com Assembly 6.5.4 Pin allocation for SRU-plus 20-60 EDF Version D Fig. 17 Pin sensor connection, version D Con- EDF for SRU-plus 20-35 EDF for SRU-plus 40-60 nection plug Shieldin +24 V (common) +24 V (common) Switching signal, sensor Switching signal 1, sensor 9 GND (common) GND (common) Switching signal, sensor...
  • Page 34 GND (common) GND (common) - not connected - - not connected - NOTE The allocation of the housing receptacles on the output side for connecting sensors can be found in the documentation of the Schunk sensors. 01.05|SRU-plus EDF 20 - 60|en...

  • Page 35: Function And Handling

    www.comoso.com Function and handling Function and handling Base unit Basic setting 180° 1 Pressurize air connection A.  The pinion turns clockwise up to the stop B. Basic setting 0° 1 Pressurize air connection B.  The pinion turns back to the stop A. Setting ranges of the Variants Fig.

  • Page 36: Center Position (Variant M)

    www.comoso.com Function and handling Center position (variant M) Fig. 21 Position of the air connections Basic setting 90° 1 Actuate air connection C and D together.  The pinion rotates on the center position. The center position can be adjusted by ± 3°. By design, overshoot- ing can occur in the center position.

  • Page 37: Locked Center Position (Variant Vm)

    www.comoso.com Function and handling Locked center position (variant VM) WARNING Risk of injury is the machine/system moves unexpectedly! In an EMERGENCY STOP situation, the center position lock can come loose. • Swivel the module to one of the limit positions to restart. NOTICE The pistons can be damaged if incorrectly controlled.
  • Page 38 www.comoso.com Function and handling Circuit diagram control (example) Fig. 23 Actuation with two 5/3 directional control valves 01.05|SRU-plus EDF 20 - 60|en...

  • Page 39: Mounting The Separating Sleeve

    www.comoso.com Function and handling 7.3.1 Mounting the separating sleeve NOTICE The O-ring in the groove could be damaged! • Screw the separating sleeve (2) very carefully until the end of the threads. Fig. 24 Mounting the separating sleeve 1 Unscrew the locking screws 2x (1). 2 Screw the separating sleeve 2x (2) from the accessory pack into hose connection holes A and B until the end of the threads.

  • Page 40: Version Vm With Separate Piston Chambers

    www.comoso.com Function and handling 7.3.2 Version VM with separate piston chambers WARNING Risk of injury is the machine/system moves unexpectedly! In an EMERGENCY STOP situation, the center position lock can come loose. WARNING Risk of injury is the machine/system moves unexpectedly! When ventilating the drive pistons, the module can start to rotate unintentionally (e.g.
  • Page 41 www.comoso.com Function and handling Wiring diagram for 1 Actuate B1 until C is locked. holding the load at 0° Fig. 26 Holding the load at 0° WARNING Risk of injury is the machine/system moves unexpectedly! When installing the SRU-plus horizontally, secure locking is not guaranteed during the ventilation stage when a pivoting movement is being performed from 9 o'clock (0°) via 6 o'clock (90°)
  • Page 42 www.comoso.com Function and handling Exhaust air throttles can also be used for connections A1 and B1 by installing separating sleeves. A2 and B2 then remain unthrottled. 01.05|SRU-plus EDF 20 - 60|en...

  • Page 43: Troubleshooting

    Pressure drops below minimum. Check the air supply. ( 6.2, Page 17) Components have become loose Send the module to SCHUNK with a repair order or dis- e.g. through over-loading. assemble module. Shock absorber defective Check or, if necessary, replace the shock absorber (...

  • Page 44: Torque Drops

    www.comoso.com Troubleshooting Torque drops? Possible cause Corrective action Compressed air can escape Test seals and, if need be, disassemble the module and replace the seals ( 9, Page 45) Too much grease in the mechan- Clean the module and relubricate it. (...

  • Page 45: Maintenance And Care

    www.comoso.com Maintenance and care Maintenance and care Notes DANGER Danger of explosion in explosion risk areas! • Follow the instructions in supplementary sheet "Installation and operating instructions - EX" for modules in explosion- resistant versions (EX)! NOTICE At ambient temperature above 60°C the lubricants can harden faster.

  • Page 46: Lubricants/Lubrication Points (Basic Lubrication)

    www.comoso.com Maintenance and care Lubricants/Lubrication points (basic lubrication) We recommend the lubricants listed. During maintenance, treat all greased areas with lubricant. Thinly apply lubricant with a lint-free cloth. Lubricant point Lubricant the teeth and the pinion Molykote BR 2 plus Metallic sliding surfaces microGLEIT GP 360 All seals...

  • Page 47: Disassembling The Center Position (Variant M And Vm)

    Replacing a shock absorber The shock absorbers are specially tested and can only be acquired from SCHUNK. The shock absorbers have a limited service life, de- pending on the load. 1 Regularly test the shock absorbers for function. The shock ab- sorbers function correctly when the module moves smoothly into the end positions.
  • Page 48 www.comoso.com Maintenance and care Replacing the Base unit with internal shock absorbers: shock absorbers Position of the position numbers ( 10, Page 55) 1 Unscrew the screws (1). 2 Pull off the stop cover (2). 3 Remove the safety rings (4) on the pistons. 4 Pull out the shock absorbers (54).
  • Page 49 www.comoso.com Maintenance and care Replacing the Locked center position option (variant VM) with shock absorbers external absorbers: Position of the position numbers ( 10, Page 55) 1 Secure the stop with 19 (SRU-plus 20-25) or 32 (SRU- plus 30-60) and unscrew the sealing nuts (74) of the shock absorber.
  • Page 50 www.comoso.com Maintenance and care Replacement of the Shock absorber maintenance for SRU-plus 20 with elastomer spring elastomer dampening ( 9.3.3, Page 50) dampening NOTE Observe the sequence! ( 10, Page 55) Fig. 27 Replacing the spring-elastomer dampening 1 Unscrew the screws (1). 2 Pull off the stop cover (2).
  • Page 51 www.comoso.com Maintenance and care Replacement of Shock absorber maintenance for SRU-plus 20 with elastomer the spring elastomer dampening ( 9.3.3, Page 51) dampening NOTE Observe the sequence! ( 10, Page 55) Fig. 28 Replacing the damper-elastomer dampening 1 Unscrew the screws (1). 2 Pull off the stop cover (2).

  • Page 52: Shock Absorber Types And Shock Absorber Overlap (H)

    www.comoso.com Maintenance and care 9.3.4 Shock absorber types and shock absorber overlap (h) Basic Locked center position SRU- Shock absor- Shock absor- Toleranc Shock absor- Shock absor- Toleranc plus ber overlap h e [mm] ber overlap h e [mm] [mm] [mm] 20 W FED 14...
  • Page 53 www.comoso.com Maintenance and care Basic Locked center position SRU- Shock absor- Shock absor- Toleranc Shock absor- Shock absor- Toleranc plus ber overlap h e [mm] ber overlap h e [mm] [mm] [mm] 1.0-266 1.0-266 G 50 W WP-M Add fitting discs at posi- 1.0-266 tion (2) until the shock absorber (4) is scope-...

  • Page 54: Servicing And Assembling The Module

    www.comoso.com Maintenance and care 9.3.5 Servicing and assembling the module Position of the position numbers ( 10, Page 55) WARNING Risk of injury due to spring forces! • Carefully disassemble the module. Servicing • Thoroughly clean all parts and check for damage or wearing parts.

  • Page 55: Assembly Drawing

    www.comoso.com Assembly drawing Assembly drawing Fig. 30 Component overview Basic components and media feed- ( 10.1, Page 56) through Electrical feed-through (standard) ( 10.2, Page 59) Electrical feed-through (version "D") ( 10.2, Page 59) Sensor holder with sensor ( 6.4.2, Page 26) Distributor plate (version "D") (...

  • Page 56: Basic Components And Media Feed-Through

    www.comoso.com Assembly drawing 10.1 Basic components and media feed-through Fig. 31 Basic components and media feed-through Contained in sealing kit. Contained in accessory pack. 01.05|SRU-plus EDF 20 - 60|en...
  • Page 57 www.comoso.com Assembly drawing Fig. 32 Stop side, end position adjustability 3° Fig. 33 Stop side, end position adjustability 90° Fig. 34 Stop-side, locked center position (variant VM) Contained in sealing kit. Contained in accessory pack. 01.05|SRU-plus EDF 20 - 60|en...
  • Page 58 www.comoso.com Assembly drawing Fig. 35 Attachment, locked center position (variant VM) Fig. 36 Center position attachment (M variant) Fig. 37 Pistons and cover of basic unit Contained in sealing kit. Contained in accessory pack. 01.05|SRU-plus EDF 20 - 60|en...

  • Page 59: Edf With Distributor Plate 20-60

    www.comoso.com Assembly drawing 10.2 EDF with distributor plate 20-60 Fig. 38 Distributor plate 20-25 (standard + "D" version) Fig. 39 Electrical feed-through 20-25 (standard + "D" version) 01.05|SRU-plus EDF 20 - 60|en...
  • Page 60 www.comoso.com Assembly drawing Fig. 40 Distributor plate 30 (standard + "D" version) Fig. 41 Electrical feed-through 30 (standard + "D" version) 01.05|SRU-plus EDF 20 - 60|en...
  • Page 61 www.comoso.com Assembly drawing Fig. 42 Distributor plate 35 (standard + "D" version) Fig. 43 Electrical feed-through 35 (standard + "D" version) 01.05|SRU-plus EDF 20 - 60|en...
  • Page 62 www.comoso.com Assembly drawing Fig. 44 Distributor plate 40 (standard + "D" version) Fig. 45 Electrical feed-through 40 (standard + "D" version) 01.05|SRU-plus EDF 20 - 60|en...
  • Page 63 www.comoso.com Assembly drawing Fig. 46 Distributor plate 50-60 (standard + "D" version) Fig. 47 Electrical feed-through 50-60 (standard + "D" version) 01.05|SRU-plus EDF 20 - 60|en...

  • Page 64: Sealing Kit

    www.comoso.com Sealing kit Sealing kit ID.-No. of the seal kit SRU-plus Seal kit for SRU-plus 20 SRU-plus 25 SRU-plus 30 SRU-plus 35 SRU-plus 40 SRU-plus 50 SRU-plus 60 Basic seal kit 0371000 0371004 5518598 0371008 0371012 0371016 0371020 with center position 5519788 5519792 5519798...

  • Page 65: Accessory Pack

    www.comoso.com Accessory pack Accessory pack ID.-No. of the accessory pack SRU-plus Accessory pack for SRU-plus 20 SRU-plus 25 SRU-plus 30 SRU-plus 35 SRU-plus 40 SRU-plus 50 SRU-plus 60 without media feed-through 5514981 5518653 5514989 5514993 5514997 5515001 with media feed-through 5514982 5518654 5514990...

  • Page 66: Wear Parts Sru-Plus 20 - 60

    www.comoso.com Wear parts SRU-plus 20 - 60 Wear parts SRU-plus 20 - 60 Shock absorber Item Designation SRU-plus 20 SRU-plus 25 SRU-plus 30 SRU-plus 35 Size designation / Quantity x Id-No. Shock absorber for soft damping (W) FED 14 2 x 5518862 WP-M 0.4-266 / 0.6-466 /...
  • Page 67 www.comoso.com Wear parts SRU-plus 20 - 60 Shock absorber Item Designation SRU-plus 40 SRU-plus 50 SRU-plus 60 Size designation / Quantity x Id-No. Shock absorber for soft damping (W) FED 14 WP-M 1.0-266 / 1.0-266 / 2 x 1.0-266 / 2 x 2 x 9952272 9952272 9952272...

  • Page 68: Translation Of Original Declaration Of Incorporation

    Translation of original declaration of incorporation in terms of the Directive 2006/42/EG, Annex II, Part 1.B of the European Parliament and of the Council on machinery. Manufacturer/ SCHUNK GmbH & Co. KG Spann- und Greiftechnik Distributor Bahnhofstr. 106 – 134 D-74348 Lauffen/Neckar...

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