Related Manuals for SCHUNK WSG 50
Summary of Contents for SCHUNK WSG 50
- Page 1 Translation of the original manual Assembly and operating manual WSG 50 Servo-electric 2-finger parallel gripper...
- Page 2 Imprint Copyright: This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights reserved. Any reproduction, processing, distribution (making available to third parties), translation or other usage - even excerpts - of the manual is especially prohibited and requires our written approval.
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Page 3: Table Of Contents
3.4.2 Connection of own lines ................. 23 3.4.3 Termination resistors................ 24 3.4.4 Fuse ...................... 24 3.4.5 PROFIBUS.................... 24 3.4.6 CAN bus .................... 25 3.4.7 Power supply and RS 232 (serial interface) .......... 25 3.4.8 Ethernet.................... 27 3.4.9 Digital inputs/outputs................ 28 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 4 7.15.1 Access restrictions for the web user interface ........ 66 7.16 Command interface.................... 67 7.17 Scripting...................... 67 7.18 Resetting the configuration................ 67 7.19 Implementing the gripping process.............. 68 Maintenance and cleaning .................. 70 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
- Page 5 The gripper jaws don't move................ 71 Gripper stops abruptly.................. 71 No connection to the web interface.............. 71 10 Translation of original declaration of incorporation .......... 72 11 Annex to Declaration of Incorporation .............. 73 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 6: General
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. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 7: Applicable Documents
• Centering sleeves, Ø6.0x5.35, outer diameter 6h6 • Technology package PROFINET TR (software license) • Universal finger ABF WSG32/50-GV • Force measurement finger ABF WSG32/50-DV 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 8: Basic Safety Notes
• HF radiation according to IEC/EN 61000-4-3 • Emissions according to EN 55011:2009 Class A (corresponds to EN 61000-6-4:2007) • Magnetic field with energy technical frequency according to EN 61000-4-8 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 9: Spare Parts
• Before working with the product, the personnel must have read and understood the complete assembly and operating manual. • Observe the national safety regulations and rules and general safety instructions. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 10: Personal Protective Equipment
• Wear protective gloves and safety goggles when handling hazardous substances. • Wear close-fitting protective clothing and also wear long hair in a hairnet when dealing with moving components. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 11: Notes On Safe Operation
• Do not recommission the product until the malfunction has been rectified. • Test the product after a malfunction to establish whether it still functions properly and no increased risks have arisen. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 12: Disposal
• If the energy supply is connected, do not move any parts by hand. • Do not reach into the open mechanism or movement area of the product during operation. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 13: Notes On Particular Risks
Before starting any work on the product: Switch off the power • supply and secure against restarting. Make sure, that no residual energy remains in the system. • 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 14: Technical Data
Technical data 3 Technical data 3.1 Outer dimensions Outer dimensions 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 15: Nominal Mechanical Data
Air humidity [%] Non condensing Min. Max. Repeatability [mm] ±0.03 3σ-deviation Gripping speed [mm/s] Finger to finger Min. Max. Finger acceleration [mm/s Finger to finger Min. Max. 5000 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 16: Permitted Finger Load
Mechanical Load Value Fz [N], max. Mx [Nm], max. My [N], max. Mz [N], max. Finger load 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 17: Gripping Force
Influence of the gripping speed to the set of gripping force The clamping height has also influence on the actual gripping force. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 18 With an ambient temperature of 22° C the product can hold with the nominal gripping force for at least 5 hours. 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
- Page 19 NOTICE For high gripping forces or long holding cycles, make sure that heat is well dissipated via the screw contact surface. Damage to the product is possible! 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 20: Nominal Electrical Data
The product has various interfaces for control. The communications interface is selected and configured via the web- based user interface, Configuration and diagnosis via the web interface 64]. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 21: Assignments For The Internal Terminal Strip
Ethernet: Receive line - RS-232: Data output RS-232: Data input Ground, reference voltage for RS-232 Ground, reference voltage for CAN, Profibus and digital I/O CAN-H CAN-Bus H CAN-L CAN-Bus L 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 22 GND , which is accessible via the integrated terminal strip. Should isolation of the interface lines not be wanted, the GND and GND pins can be bridged. 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 23: Connection Of Own Lines
Made by: U.I. Lapp GmbH, Stuttgart, type: SKINTOP MS-SC-M, item number: 53112610. Installation of the EMC fitting NOTE SCHUNK recommend only using screened cables and EMC cable glands. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 24: Termination Resistors
Supported bit rates kBit/s 9.6; 19.2; 45.45; 93.75; 187.5; 500; 3000; 6000; 12000 Insulation voltage VDE 0884, peak rev. 2 Voltage on A/B cable relative to peak 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 25: Can Bus
The connection assignments are shown in the following illustration. Connection assignments for the connector carrying the power supply and RS 232 signal (view of connection plug) 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 26 Supported bit rates kBit/s 1.2; 2.4; 4.8; 9.6; 19.2; 38.4; 57.6; 115.2; 230.4; 460.8 Data format 8 data bits, no parity, 1 stop bit (8n1) Flow control none 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 27: Ethernet
• Multicast DNS (decentralized resolution of host names) Interface specification: Parameter Value Note Transmission standard IEEE 802.3 Communication standard TCP/IP (IPv4) Transmission speed [MBit/s] 10; 100 Auto-Negotiated Transmission type Half duplex Auto-MDIX 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 28: Digital Inputs/Outputs
Increase in voltage on the 0.16 Output current = 100mA output permissible output current Equivalent circuit of the input stage NOTE (5V) is a intern generated, isolated supply voltage. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 29: Base Jaw With A Sensor Port
NOTE The power supply from the sensor port is not suitable to supply actuators. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 30 UART digital interfaces share transmit and receive pins. The configuration memory determines which function is active. Sensor port Should you require detailed specifications of the sensor port to implement your own fingers, please contact SCHUNK. 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
- Page 31 Only SPI: Clock for transmit and receive data CFG-SDA Configuration bus – data line MISO/RXD SPI/UART: Received data CFG-SCL Configuration bus – clock line not connected Operating voltage output 5V/200mA max. Mass 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 32: Name Plate
3.5 Name plate The name plate is on the narrow side of the product above the connector. It shows the type and the serial number of the product. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 33: Design And Description
Display of operating state 47] 12 Cover plate terminal strip 13 Terminal strip Assignments, Assignments for the internal terminal strip 21] 14 Fuse 2A time lag, Fuse 24] 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 34: Description
SCHUNK provide standardized finger as accessories, which work directly with the gripper control. For more information, please contact SCHUNK. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 35: Assembly
For all work in the vicinity of hot surfaces, wear safety gloves. • Before carrying out any work, make sure that all surfaces have • cooled down to the ambient temperature. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 36: Mechanical Connection
NOTE To ensure fault-free operation and to minimize the radiation of electromagnetic interference (EMC) the product’s housing must be properly earthed. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 37 Assembly NOTICE Material damage due to incorrect tightening torques! Observe the maximum tightening torque: – Screw M3: 1.0 Nm – Screw M6: 3.0 Nm 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 38: Electrical Connection
Equivalent circuit for the power supply Power supply Gripper module +24V Drive 24V / 5A +24V Logic common supply of load and logic Connection type common supply to load and logic 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 39 Load supply separated from logic supply Connection type supply to load separate from supply to logic NOTE If load and logic are operated separately, always use the same power supply! 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 40: Installation Of The Fingers
Installation of the fingers Force measurement finger ABF Base jaw WSG32/50-DV Screw M4, ISO 4762 Centering sleeve Tightening torque, max.: 2.5 Nm! 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 41: Start-Up
• To directly operate the product on your computer’s network connection, you may have to alter your computer’s network configuration. If in doubt, contact your system administrator. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 42 The starting page of the web-based interface From the menu, select the Motion -> Manual Control option and Ø click on the “Home“ button The product will now zero itself. ✓ 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
- Page 43 On the Settings -> System page, create a user with Ø corresponding rights and activate the web interface’s security function, to prevent changes to your setting by unauthorized persons. 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 44: Changing The Ip Address And Using Dhcp
This is why the DHCP server should be config-ured so that the product is issued with an IP address which is known in advance For further information, please contact your network administrator. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 45: Operation
• To guarantee proper operation, the latest version of firmware should always be installed in the product. ð The latest firmware can be obtained from the SCHUNK. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 46: Memory Card
If using the serial interface as command interface, the host application must be configured in a way that doesn’t cause any problems when receiveing this byte sequence. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 47: Display Of Operating State
The product has a multi-colored indicator for the operating state. The current operating state is shown by both the color of the indicator as well as by the flash rate. Status visualization Display of operating state 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 48 More LEDs indicating SD card and communication activity can be found next to the SD card slot under the cover plate with the SCHUNK logo. 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 49: Status Word And Gripper State
(e.g. temperature warning, power failure, etc.). NOTE You will find the documentation for the status word in the manual “WSG Command Set Reference“ 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 50 Operation Gripper status Fast-Stop System status Web Interface side bar with system state 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 51: Gripper State
The gripper's state is shown like the status word in the side bar of the web interface. The following diagram shows the possible transitions between the gripper’s states. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 52 Transitions between the gripping states Stop command: Issuing a Stop command in any state (except ERROR) will abort the current action and immediately return to IDLE state. 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 53: Homing The Product
• To automatically execute a homing sequence on start up, activate the "Homing on Start up" option via the web interface Settings -> Motion Configuration). 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 54: Gripping, Detecting Parts To Be Gripped And Monitoring The Gripping
/ 2 clamping distance / 2 nominal gripping width Parameters defining a grip 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 55 • Setting the part width tolerance to the full range of movement of the product (maximum settings) will deactivate the detection of axis blocking when gripping. 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 56: Software Limit Switch
The software limits can be set via the command interface, a script or the web interface (Settings -> Motion Configuration). 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 57 • More information on this subject are in the manuals "WSG Command Set Reference Manual" and "WSG Scripting Reference Manual". 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 58: Fast Stops Requiring Acknowledgment
NOTE More information on this subject are in the manuals "WSG Command Set Reference Manual" and "WSG Scripting Reference Manual". 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 59: Log Memory
Download the file using the file manager. To do that, select "File Ø Manager" in the in the menu "Scripting". Click on the file and start the download via the button. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 60: Thermal Monitoring
• The command to read out the current housing temperature and the command to acknowledge the Fast Stop via the command interface are documented in the "WSG Command Set Reference Manual". 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 61: Monitoring The Motor Current
• This error can only be acknowledged if there is no longer a current error. • For the documentation of the command to acknowledge the "Fast Stop" via the command inter-face, see the "WSG Command Set Reference Manual". 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 62: Monitoring The Supply Voltage
• Futher information of the system status word and of the command to acknowledge the "Fast Stop" via the command interface, see the "WSG Command Set Reference Manual". 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 63: Overdrive Mode
Despite to thermal protecten, the product can be damaged when overloading. For further information, please contact our technical distributor. NOTE For a documentation of the overdrive mode, please check the „WSG Command Set Reference Manual“. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 64: Configuration And Diagnosis Via The Web Interface
• Mobile Safari (iOS 4.3 and above) • Internet Explorer 8 and above NOTE To display the web user interface, JavaScript must be enabled in your browser. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 65 Via integrated help texts, the product’s web interface is intuitive to use. In the upper area you will find a menu bar via which the individual pages can be called up. 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 66: Access Restrictions For The Web User Interface
Administrator: Can adjust all of the product’s settings without restriction. NOTE If access restrictions have been activated, then the product will record which user logs in and when. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 67: Command Interface
"config \system.cfg" to "config\system.old". NOTICE Manually editing the configuration file can lead to unwanted behavior. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 68: Implementing The Gripping Process
Command "Release Part (26h)". Parameters: Opening width, speed. The gripper state changes to "RELEASING". Wait until the gripper state is "IDLE". Deal with errors on "ERROR". Start again at 2. Ø 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 69 In the case of long-term short travel, it is possible to dry the product. Every 1000 movements or at least once per day the product • should be moved through its full range of travel. 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
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Page 70: Maintenance And Cleaning
In the case of long-term short travel, it is possible to dry the product. Every 1000 movements or at least once per day the product • should be moved through its full range of travel. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 71: Troubleshooting
Supply voltage is not Check the power supply. connected. Communication not possible. Check the connections and communications cables. Check network settings on the product. Check network settings on the computer. 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 72: Translation Of Original Declaration Of Incorporation
Person authorized to compile the technical documentation: Robert Leuthner, Address: see manufacturer's address Lauffen/Neckar, May 2019 p.p. Ralf Winkler, Manager for development of gripping system components 04.00 | WSG 50 | Assembly and operating manual | en | 389474... -
Page 73: Annex To Declaration Of Incorporation
Risk of break-up during operation 1.3.3 Risks due to falling or ejected objects 1.3.4 Risks due to surfaces, edges or angles 1.3.5 Risks related to combined machinery 04.00 | WSG 50 | Assembly and operating manual | en | 389474... - Page 74 1.5.16 Lightning Maintenance 1.6.1 Machinery maintenance 1.6.2 Access to operating positions and servicing points 1.6.3 Isolation of energy sources 1.6.4 Operator intervention 1.6.5 Cleaning of internal parts 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
- Page 75 Supplementary essential health and safety requirements for machinery intended for underground work Supplementary essential health and safety requirements for machinery presenting particular hazards due to the lifting of persons 04.00 | WSG 50 | Assembly and operating manual | en | 389474...
- Page 76 04.00 | WSG 50 | Assembly and operating manual | en | 389474...