Related Manuals for SCHUNK EVG 55
Summary of Contents for SCHUNK EVG 55
- Page 1 Translation of the original manual Electrical variable gripper EVG 55 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 sup- plied 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 particular com- petitive companies, without our prior permission.
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Page 3: Table Of Contents
2.13.5 Protection against magnetic and electromagnetic fields ......... 19 2.14 Notes on particular risks ....................20 3 Technical data ........................22 3.1 Basic data ......................... 22 3.2 Diagrams ........................... 23 3.3 Motor data ........................24 4 Design and description ....................25 4.1 Configuration ........................25 05.01|EVG 55|en... - Page 4 6.1.3 Gripper does not travel through the entire stroke .......... 54 6.2 Motor does not turn ......................54 6.3 Behavior in case of malfunctions of the MCS-06 SCHUNK controller ......55 6.3.1 LEDs on Controller Do Not Light Up ..............55 6.3.2 POW LED (Green) Does Not Light Up ..............
- Page 5 7.2 Measures for preserving the gripper's function ............57 7.3 Cleaning ..........................58 7.3.1 Gripper ......................... 58 7.3.2 Controller ......................58 7.4 Lubricants/lubrication points ..................58 7.5 Disassembly and assembly ....................59 8 Translation of original declaration of incorporation ............60 05.01|EVG 55|en...
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Page 6: General
Non-observance will inevitably cause irreversible injury or death. WARNING Dangers for persons! Non-observance 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. 05.01|EVG 55|en... -
Page 7: Applicable Documents
The following accessories, which must be ordered separately, are re- quired for the product: • Controller (e.g. SCHUNK MCS-06) A wide range of accessories are available for this product For information about which accessories can be used with the ap- propriate product version see catalog. -
Page 8: Basic Safety Notes
• Constructional changes may only be done with SCHUNK's permis- sion. Spare parts Use of unauthorised spare parts Using unauthorised spare parts can endanger personnel and damage the product or cause it to malfunction. • Use only original spare parts or spares authorised by Schunk. 05.01|EVG 55|en... -
Page 9: Gripper Fingers
EMC: Generic standards - emitted interference for (2011) living area, business and commercial areas and small businesses The product must be installed using interference-free cables and in a way that meets EMC requirements in order to ensure interference- free operation. 05.01|EVG 55|en... - Page 10 The emitted interference of electromagnetic fields (limit class A, group 1, measured with 10 m distance) has been tested according to the following standards: Standard Title EN 55011 Industrial, scientifical and medical devices - radio (2009) interference - limits and measurement procedures 05.01|EVG 55|en...
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Page 11: Environmental Conditions
Standard Title EN 60068-2-1 Test procedure - test A: cold EN 60068-2-2 Test procedure - test B: dry heat EN 60068-2-30 Test procedure - test Db: humid heat, cyclical (12 + 12 hours) 05.01|EVG 55|en... - Page 12 The product has been tested with respect to mechanical environ- mental conditions according to the following standards: Standard Title EN 60068-2-6 Test procedure - test Fc: swinging (sinusoidal) (2008-10) EN 60068-2-27 Test procedure - test Ea and guideline: shocking (2010-02) 05.01|EVG 55|en...
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Page 13: Personnel Qualification
Service personnel of Due to its technical training, knowledge and experience, service per- the manufacturer sonnel of the manufacturer is able to perform the delegated tasks and to recognize and avoid possible dangers. 05.01|EVG 55|en... -
Page 14: 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 environmen- tal protection regulations regarding the product's application field. 05.01|EVG 55|en... -
Page 15: Transport
Handling of disposal The incorrect handling of disposal may impair the product's safety and cause serious injuries as well as considerable material and envi- ronmental harm. • Follow local regulations on dispatching product components for recycling or proper disposal. 05.01|EVG 55|en... -
Page 16: Fundamental Dangers
Incorrect lifting of loads Falling loads may cause serious injuries and even death. • Stand clear of suspended loads and do not step into their swivel- ing range. • Never move loads without supervision. • Do not leave suspended loads unattended. 05.01|EVG 55|en... -
Page 17: Protection During Commissioning And Operation
EMERGENCY STOP switch- es must be easily and quickly accessible. Check the function of the EMREGENCY STOP before starting up the machine or system. If this protective equipment is not working properly, prevent the operation of the machine. 05.01|EVG 55|en... -
Page 18: Protection Against Electric Shock
• While paying particulary attention to the actual conditions of the working environment, the equipotential bonding must be imple- mented by a specialist electrician according to the applicable reg- ulations. • The effectiveness of the equipotential bonding must be verified by executing regular safety measurements. 05.01|EVG 55|en... -
Page 19: Protection Against Magnetic And Electromagnetic Fields
A special additional EMC test may be necessary if the sys- tem has a high risk potential. 05.01|EVG 55|en... -
Page 20: Notes On Particular Risks
• Wear suitable protective equipment. WARNING Risk of injury from objects falling and being ejected! Falling and ejected objects during operation can lead to serious inju- ry or death. • The danger zone must be cordoned off by a protective barrier. 05.01|EVG 55|en... - Page 21 As a consequence, it cannot be guaranteed that the workpiece is held safely. • In case of an energy supply failure, it is the user's responsibility to revert the drive into a safe state. 05.01|EVG 55|en...
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Page 22: Technical Data
Max. permissible finger length [mm] Electrical operating data Nominal voltage [VDC] MCS-06 Nominal power current [A] Max. current [A] Control electronics Interface RS232 CAN bus Profibus DP Power supply [VDC] (Logic) Nominal power current [A] (Logic) Sensor system Encoder 05.01|EVG 55|en... -
Page 23: Diagrams
= 2. In case of form-fit gripping, the values can be increased. *** Scattering of end positions for 100 consecutive strokes. More technical data are included in the catalog data sheet. Whichev- er is the latest version. Diagrams Stroke diagrams Gripping force diagrams 05.00|EVG 55|en... -
Page 24: Motor Data
Technical data Motor data Reference value EVG 55 EVG 55 Stroke 40 Hub 100 Terminal voltage U Torque constant K [Ncm/A] Ambient temperature θ [°C] Maximal winding temperature θ [°C] Thermal transfer resistance R [K/W] 3.25 Maximal torque M [Ncm] 23.5... -
Page 25: Design And Description
A controller supplies the gripper with voltage. • For an optimal operation, the SCHUNK MCS-06 controller is rec- ommended. The module is equipped with a brushless direct current servo motor with bevel gear and toothed belt. -
Page 26: Operation Principle
Sensors transfer the required parameters back to the external logic. The following parameters can be transferred from the controller (master) to the internal logic: • Current I • Velocity v • Acceleration a • Position (distance between base jaws) 05.01|EVG 55|en... -
Page 27: Assembly And Installation
Requirements for levelness of the mounting surface (Dimensions in mm) Diameter Permissible unevenness < 100 < 0.02 > 100 < 0.05 • Use suitable connecting elements (adapter plate) to connect the module to the machine/system. • Observe the permissible screw-in depth. 05.01|EVG 55|en... - Page 28 Moutning screws DIN EN ISO 4762 and centering sleeve 6x5.35 NOTE Optionally the module can be mounted to the flat change head (FWK) with flat change system (FWS): Mounting at the FWS Flat change head with adapter adapter plate 05.00|EVG 55|en...
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Page 29: Special Connection Dimensions
For fastening the top jaws, there are respectively two M3 mounting threads at the base jaws: Connection dimensions EVG55 stroke 40 Gripper connection Fit for centering sleeves Finger connection Depth of the centering bore in the counterpart M16x1,5 for cable connection 05.01|EVG 55|en... - Page 30 Assembly and installation Connection dimensions EVG55 stroke 100 Gripper connection Fit for centering sleeves Finger connection Depth of the centering bore in the counterpart M16x1,5 for cable connection 05.00|EVG 55|en...
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Page 31: Electrical Connection
Assembly and installation Electrical connection NOTE The cable color throughout this chapter refers to the use of a SCHUNK connection cable. NOTICE Danger of short circuit! Damage of circuit board possible! • Observe configuration of the terminals. • Electrical connection may only be performed by qualified per- sonnel. -
Page 32: Emv Fitting Of Connection Cable To The Gripper
5 Connect the connection cable directly to the connection board (3). Extending the connection board is not necessary. (☞ Fig. and tab. connection board with terminals and configuration of ter- minals). EMC-fitting 05.00|EVG 55|en... - Page 33 • Electrical connection may only be performed by qualified per- sonnel. • Never remove the adapter plate from the gripper. Connection board with terminals and configuration of terminals Item Connection board Function SCHUNK cable color EVG55 Terminal strip X5 Brake - Brown (0,34mm²) Brake + White (0,34mm²)
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Page 34: Electrical Connection Of The Module To The Mcs-06 Controller
Assembly and installation Item Connection board Function SCHUNK cable color EVG55 Encoder track A Hall sensor 3 Hall sensor 2 Hall sensor 1 Bushing X23 Brake + Brake - Terminal strip X7 Shielding Grey Lines of the Motor phase W... -
Page 35: Scope Of Delivery Of Mcs-06 Controller
Content of DVD: • Motion Tool SCHUNK (MTS) (configuration and commissioning tool) • Operating manual in PDF format • Software manual Motion Tool SCHUNK in PDF format • Software module for Siemens S7300/400 5.4.2 Technical data of the MCS-06 controller... -
Page 36: Configuration And Description Of The Mcs-06 Controller
Display - LED for RDY (indicates com- power supply is available) munication readiness) Display - LED for ERR (indicates occur- Terminal strip X2 ( 5.4.6, Page 40) ring errors) Terminal strip X3 ( 5.4.7, Page 41) Terminal strip X4 ( 5.4.8, Page 43) 05.00|EVG 55|en... - Page 37 The controller is fastened with a metal base latch to a support rail (according to EN 50022). DEFAULT function Reset the module via the SCHUNK controller. NOTE For more information on the DEFAULT values, see the Motion- ToolSchunk.pdf on the controller's DVD.
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Page 38: Procedure And Requirements
Loading new firm- The new firmware can be loaded on the module via the Motion Tool ware on the module Schunk software (MTS) (on the supplied DVD) under "Module" - "Up- date firmware". NOTE For further information ☞ MotionToolSchunk.pdf document on the DVD. -
Page 39: Configuration Of Terminal Strip X1 Of The Mcs-06 Controller
Terminal strip X1 serves for connecting the controller's motor phases: Terminal strip X1 Position of terminal strip ( 5.4.3, Page 36) Configuration of the pins of terminal strip X1 Function Cable color Motor phase U Motor phase V White Motor phase W Black Shielding Grey 05.01|EVG 55|en... -
Page 40: Configuration Of Terminal Strip X2 Of The Mcs-06 Controller
+5V for encoder and Hall sensor Red GND for encoder and Hall sen- Blue Hall sensor 1 Yellow Hall sensor 2 Pink Hall sensor 3 Grey Brake - Brown (0,34mm²) Brake + White (0,34mm²) Resolver signal reference - 05.00|EVG 55|en... -
Page 41: Configuration Of Terminal Strip X3 Of The Mcs-06 Controller
Encoder track Cdiff Copper Encoder track Cdiff\ Orange Digital output 1 Digital output 2 Digital output 3 Digital output 4 +24V logic supply GND logic supply Digital input 4 Digital input 3 Digital input 2 Digital input 1 Default 05.01|EVG 55|en... - Page 42 Depending on configuration Digital output (OUT2) (low active) ☞ See table below Movement finished (low acti- Digital output (OUT3) Switching possibilities of the output DO3 via Motion Tool Schunk (as of Firmware V1.22) Setting Description Normal Digital output via CMD_DIO switchable Status + movement OUT2 reports, if the module is moving.
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Page 43: Configuration Of Terminal Strip X4 Of The Mcs-06 Controller
5.4.9 Pin assignment of communication interfaces The MCS-06 has curently three communication interfaces (RS232, CAN, Profibus DP). The controller can be actuated with the SCHUNK Motion Protocol (SMP) via these interfaces. • Information on the SMP ( 5.4.3, Page 36) All communication interfaces can be connected at the same time, however, only one of them may be active. - Page 44 Due to its properties the communication interface RS232 is not suita- ble as fieldbus. • The RS232 interface should only be used as a parameterization in- terface. Configuration of the pins for RS232 interface Function Description Transmit data Receive data Reference potential for data lines 05.00|EVG 55|en...
- Page 45 (master) to the controller (MCS-06): CAN interface Position of the plugs ( 5.4.3, Page 36) Configuration of the Pins for CAN interface Function Description CAN-L CAN BUS signal (dominant low) CAN_SHLD Optional shielding CAN-H CAN BUS signal (dominant high) 05.01|EVG 55|en...
- Page 46 Configuration of the pins for the Profibus DP interface Function Description RxD/TxD-P Receive / transmit data plus line (B line) Reference potential for 5V supply voltage +5 V Supply voltage +5 V DC RxD/TxD-N Receive / transmit data N line (A line) 05.00|EVG 55|en...
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Page 47: Connecting Ground Cable
Always mount the ground cable individually. 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. 05.01|EVG 55|en... -
Page 48: Function And Handling
23). It is recommended to position into the workpiece in the positioning mode with speed default and current limitation ("gripping force default"). Due to the cascaded control, the gripper adjusts the current to the set value after the gripper fingers touched the workpiece. 05.00|EVG 55|en... -
Page 49: Commissioning And System Integration Via The Schunk Mcs-06 Controller
Assembly and installation Commissioning and system integration via the SCHUNK MCS-06 controller 5.7.1 System structure System structure Data format The data is transferred in INTEL Format (Little Endian For-mat). NOTE The number of connected products depends on the used bus system. -
Page 50: Schunk Motion Protocol
Assembly and installation 5.7.2 SCHUNK Motion protocol SCHUNK Motion protocol The data frame of the Motion protocol always includes the following elements: • D-Len (1 Byte) • Kommando Code (1 Byte) D-Len (Data Length) specifies the number of subsequent items of us- er data including the command byte. -
Page 51: Important Commands
Parameter: (Master -> Slave): none. Response (Slave -> Master): "OK" (0x4F4B) if successful. Product is executing the command. Other: Spontaneous response is possible Example for REFERENCE D-Len Param Meaning M -> S 0x01 0x92 S -> M 0x03 0x92 0x4F0x4B Successfully referenced 05.01|EVG 55|en... - Page 52 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 velocity run with 0x31 0x41 11.1 [mm/s] S -> M 0x05 0xB5 0x4F 0x4B 05.00|EVG 55|en...
- Page 53 Others: If all errors have been successfully acknowledged, an "INFO 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 05.01|EVG 55|en...
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Page 54: Troubleshooting
Dirt deposits between cover plate and chuck Clean and, if necessary, re-lubricate piston Motor does not turn Possible cause Corrective action Motor lines are defective Check winding resistances: Motor lines to- wards each other: R = 0.4...2.0 Ω (depending on cable length) 05.01|EVG 55|en... -
Page 55: Behavior In Case Of Malfunctions Of The Mcs-06 Schunk Controller
Troubleshooting Behavior in case of malfunctions of the MCS-06 SCHUNK controller 6.3.1 LEDs on Controller Do Not Light Up Possible cause Corrective action No voltage connected Check the power and logic voltage supplies on the controller Master (control unit) on the field bus is not Check the master;... -
Page 56: Product Stops Abruptly
Check bus cable for damage and, if necessary, replace it. For more troubleshooting, see Motion Control. 6.3.6 Module Does Not Move/Respond Possible cause Corrective action Encoder/Resolver falsch angeschlossen. Check connection. Motor connected incorrectly. Check motor, change if necessary. 05.01|EVG 55|en... -
Page 57: Maintenance
Maintenance Maintenance Maintenance intervals Size EVG 55 Interval [Mio. cycles] Travelling through the entire stroke [cycles] 1,000 Check after every production day or at least once a day if the profiled rail guides of the gripper base jaws are sufficiently lubricated. -
Page 58: Cleaning
• Clean the module dry, remove all coarse dirt and chips from the cavities of the module. • Check for damage and, if necessary, replace the module. Any repair work on the module may only be carried out by SCHUNK. 7.3.2 Controller The module corresponds to IP code 20. -
Page 59: Disassembly And Assembly
Travel two or three times through the entire stroke. Disassembly and assembly 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. 05.01|EVG 55|en... -
Page 60: 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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