SCHUNK EGL Series Assembly And Operating Manual
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SCHUNK EGL Series Assembly And Operating Manual

2-finger parallel gripper
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Translation of the original operating manual
Assembly and Operating Manual
EGL
2-finger parallel gripper
Firmware 3.x

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Summary of Contents for SCHUNK EGL Series

  • Page 1 Translation of the original operating manual Assembly and Operating Manual 2-finger parallel gripper Firmware 3.x...
  • 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.

  • Page 3: Table Of Contents

    Table of Contents Table of Contents General........................ 5 About this manual .................... 5 1.1.1 Presentation of Warning Labels ............... 5 1.1.2 Applicable documents ................ 6 1.1.3 Sizes ...................... 6 1.1.4 Variants..................... 6 Warranty ...................... 6 Scope of delivery .................... 7 Accessories ...................... 7 Basic safety notes .................... 8 Intended use......................
  • Page 4 Systemintegration .................... 43 6.1.1 SCHUNK Drive Protocol (SDP).............. 43 6.1.2 SCHUNK Motion protocol (SMP) ............ 43 6.1.3 Notes on the compatibility of Motion Tool Schunk (MTS) and firmware...  43 Commissioning the product ................ 44 PROFINET...................... 45 6.3.1 Types of communication of PROFINET ........... 45 6.3.2 Operating behavior of the product............ 46...

  • Page 5: General

    General 1 General 1.1 About this manual This manual contains important information for a safe and appropriate use of the product. This manual is an integral part of the product and must be kept accessible for the personnel at all times. Before starting work, the personnel must have read and understood this operating manual.

  • Page 6: Applicable Documents

    • Catalog data sheet of the purchased product * • Assembly and operating manuals of the accessories * • "SCHUNK Motion Tool (MTS)" software manual * • "SCHUNK Motion Protocol (SMP)" software manual * • "SCHUNK Drive Protocol (SDP)" software manual * •...

  • Page 7: Scope Of Delivery

    • 2 x centering sleeve Ø 10 x 6.65 • 4 x centering sleeve Ø 8 x 5.35 Contents of DVD: • "SCHUNK Motion Tool (MTS)" configuration and commissioning tool • "SCHUNK Motion Tool (MTS)" software manual • "SCHUNK Motion Protocol (SMP)" software manual •...

  • Page 8: Basic Safety Notes

    Basic safety notes 2 Basic safety notes 2.1 Intended use The product is used solely for gripping, holding and releasing dimensionally stable workpieces with low elasticity within load limits. For permissible load values, see the catalog datasheet. • The product may only be used within the scope of its technical data, Technical data  19].

  • Page 9: Constructional Changes

    Use of unauthorized spare parts Using unauthorized spare parts can endanger personnel and damage the product or cause it to malfunction. • Use only original spare parts or spares authorized by SCHUNK. 2.5 Gripper fingers Requirements for the gripper fingers Stored energy within the product creates the risk of serious injuries and significant property damage.

  • Page 10: Environmental Conditions

    Basic safety notes 2.6.2 Environmental conditions Transport and storage requirements For transport and storage of product in original packaging, the following requirements apply: • Loading and unloading with mechanical aids • Ambient temperature from -40 °C to +70 °C • Air humidity up to max. 85% Operational requirements The following requirements apply for operation of the product: •...

  • Page 11: Personnel Qualification

    Basic safety notes 2.6.3 Insulation resistance and voltage resistance in accordance with EN 60204-1 When measuring the insulation resistance and inspecting the voltage resistance of the machine/automated system, observe the following information in order to protect the product from damage: •...

  • Page 12: Personal Protective Equipment

    Basic safety notes 2.8 Personal protective equipment Use of personal protective equipment Personal protective equipment serves to protect staff against danger which may interfere with their health or safety at work. • When working on and with the product, observe the occupational health and safety regulations and wear the required personal protective equipment.

  • Page 13: Malfunctions

    Basic safety notes 2.11 Malfunctions Behavior in case of malfunctions • Immediately remove the product from operation and report the malfunction to the responsible departments/persons. • Order appropriately trained personnel to rectify the malfunction. • Do not recommission the product until the malfunction has been rectified.

  • Page 14: Protection During Commissioning And Operation

    Basic safety notes Incorrect lifting of loads Falling loads may cause serious injuries and even death. • Stand clear of suspended loads and do not step into their swiveling range. • Never move loads without supervision. • Do not leave suspended loads unattended. 2.13.2 Protection during commissioning and operation Falling or violently ejected components Falling and violently ejected components can cause serious injuries...

  • Page 15: Protection Against Electric Shock

    Basic safety notes 2.13.4 Protection against electric shock Work on electrical equipment Touching live parts may result in death. • Work on the electrical equipment may only be carried out by qualified electricians in accordance with the electrical engineering regulations. •...

  • Page 16: Protection Against Magnetic And Electromagnetic Fields

    Basic safety notes 2.13.5 Protection against magnetic and electromagnetic fields Work in areas with magnetic and electromagnetic fields Magnetic and electromagnetic fields can lead to serious injuries. • Persons with pace-makers, metal implants, metal shards, or hearing aids require the consent of a physician before entering areas in which components of the electric drive and control systems are mounted, started up, and operated.

  • Page 17: Notes On Particular Risks

    Basic safety notes 2.14 Notes on particular risks  DANGER Danger from electric voltage! Touching live parts may result in death. Switch off the power supply before any assembly, adjustment • or maintenance work and secure against being switched on again. Only qualified electricians may perform electrical installations.
  • Page 18 Basic safety notes  WARNING Risk of injury from crushing and impacts! Serious injury could occur during the base jaw procedure and when breaking or loosening the gripper fingers. Wear suitable protective equipment. • Do not reach into the open mechanism or the movement area •...

  • Page 19: Technical Data

    * For use in dirty ambient conditions (e.g. sprayed water, vapors, abrasion or processing dust) SCHUNK offers corresponding product options as standard. SCHUNK also offers customized solutions for special applications in dirty ambient conditions. ** The built-in, electric holding break is used for mounting and holding the position of the gripper jaws in the event of a power failure.

  • Page 20: Diagrams

    Technical data 3.2 Diagrams NOTE The following diagrams refer to the motor current. This is internal and is controlled via the SPS programming. Gripping force diagram The gripping force diagram shows the achievable gripping force at 15 mm/s and 150 mm/s with the relevant motor current. Derating diagram 06.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
  • Page 21 Technical data Depending on the ambient temperature, continuous gripping is only permitted with reduced motor current. Otherwise the product will overheat and signal a malfunction. To determine the nominal gripping force, the product is installed with a positive locking on an aluminum plate. The 200x200x20 mm³...

  • Page 22: Design And Description

    Depending on the bus system, various address ranges and communication protocols are available: Address range Communication protocol PROFINET is assigned by SPS PROFIBUS 0-127 SDP* / SMP CAN bus 0-255 *) recommended by SCHUNK 06.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...

  • Page 23: Interfaces And Service Windows

    Design and description 4.3 Interfaces and service windows Interfaces and service window, PROFIBUS and CAN bus variant Interfaces and service window, PROFINET version 06.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
  • Page 24 Design and description Item Designation Function PROFIBUS or CAN bus socket Inlet communication OR: PROFINET socket Rotary encoding switch Address configuration for PROFIBUS or CAN bus Status display and error analysis USB Micro AB, host* Firmware update via USB flash drive Power supply plug Logic and power supply USB mini AB, device*, parameterized...

  • Page 25: Led

    Design and description 4.3.1 LED LED, PROFIBUS and CAN bus variant LED, PROFINET variant LED Designation Color Function Supply green Indicates whether the power supply is connected. power • Lights up when the power supply for the product is connected. Logic green Indicates whether the logic voltage is connected.
  • Page 26 Micro AB, host (CAN bus communication interface). • Lights up if a firmware update is being installed via USB Micro AB, host (PROFIBUS communication interface). Module Indicates if there is an error; see "SCHUNK Motion error Protocol (SMP)" and "SCHUNK Drive Protocol (SDP)" software manuals.
  • Page 27 Design and description LED PROFINET variant LED Designation Color Function PROFINET green/ Displays the current network status. network status • Does not light up, if no power supply is connected to the product. • Does not light up, if there is no connection to the PROFINET control.

  • Page 28: Dip Switch

    The DIP switch must always be in the "OFF" position when switching on the voltage supply. The function may only be run by SCHUNK service. Enable USB host • If the DIP switch is set to the "ON" position with the voltage supply switched on: –...

  • Page 29: Functional Principle

    – The product quick test is being carried out, Perform quick test  56] Reserved SCHUNK recommends that the DIP switch must be in the "OFF" position when switching on the voltage supply. Reserved SCHUNK recommends that the DIP switch must be in the "OFF"...

  • Page 30: Assembly And Settings

    Assembly and settings 5 Assembly and settings 5.1 Assembling and connecting  DANGER Danger from electric voltage! Touching live parts may result in death. Switch off the power supply before any assembly, adjustment • or maintenance work and secure against being switched on again.
  • Page 31 Assembly and settings If applicable: connect multiple products to each other, Ø Combining several products (PROFIBUS, CAN bus)  40]. Only PROFIBUS or CAN bus: On the last product, plug the termination resistor into the Ø socket. Set address of PROFIBUS or CAN bus via the rotary encoding Ø...

  • Page 32: Connections

    Assembly and settings 5.2 Connections 5.2.1 Mechanical connection The values apply to the whole mounting surface to which the Evenness of the product is mounted. mounting surface Requirements for evenness of the mounting surface (Dimensions in mm) Edge length Permissible unevenness <...
  • Page 33 Assembly and settings Depth of engagement and tightening torque, product to adapter plate Designation Thread Minimum depth of engagement [mm] Maximum depth of engagement [mm] Centering sleeve [Ø] Tightening torque [Nm] 10.1 Depth of engagement and tightening torque, finger to base jaw Designation Thread Minimum depth of engagement...

  • Page 34: Electrical Connection

    Assembly and settings 5.2.2 Electrical connection CAUTION Risk of damage to the electronics! A faulty connection can cause damage to the internal electronics. The supply network must be a network of type "PELV" for • power and logic. Observe the PIN assignment of the connecting terminals. •...
  • Page 35 Assembly and settings Profibus +5V bus PB-B PB-A – PB-GND CAN bus CAN-H – CAN-L GND-CAN PROFINET PROFINET is achieved via two M12 sockets. The sockets of the PROFINET are D-coded. PIN allocation of socket and socket, PROFINET variant PROFINET Shield via connector housing 06.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
  • Page 36 Assembly and settings 5.2.2.2 Cable connections CAUTION Damage to the connecting plugs and cables possible! The connecting cables must not transfer any mechanical loads (tension, pressure, vibrations) to the connecting plugs. Provide strain relief (3) for all connecting cables near the •...
  • Page 37 Assembly and settings 5.2.2.3 Wiring diagram Connection diagram, PROFINET variant 06.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
  • Page 38 Assembly and settings Connection diagram, PROFIBUS and CAN bus variant 06.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...

  • Page 39: Connecting Ground Cable

    Assembly and settings 5.2.2.4 External protection The power circuit of the EGL needs to be protected by a fuse provided by the customer, Technical data  19]. 5.3 Connecting ground cable Ground connection Screw * Toothed lock washer Washer Product Cable lug Ground marking *) Tightening torque: 5 Nm A ground connection with a sufficient cross-section must be...

  • Page 40: Combining Several Products (Profibus, Can Bus)

    Assembly and settings 5.4 Combining several products (PROFIBUS, CAN bus) This chapter describes the combination of products of the variants EGL PROFIBUS or EGL CAN bus. The combination of products of the variant EGL PROFINET is described in the corresponding documents of the PROFIBUS organization.

  • Page 41: Configuring Profibus Or Can Bus

    Assembly and settings 5.6 Configuring PROFIBUS or CAN bus Rotary encoder switch Item Designation Note Rotary encoder For setting the less significant digit switch "S1" (half byte). Rotary encoder For setting the more significant digit switch "S2" (half byte). NOTE The CAN bus or PROFIBUS address is configured as a hexadecimal code on the product.
  • Page 42 Assembly and settings Address configuration for CAN bus or PROFIBUS Hexadecimal address Rotary encoder Rotary encoder switch "S1" switch "S2" Decimal address … … … … … … … … … … 06.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...

  • Page 43: Start-Up

    For PROFIBUS, SCHUNK recommends using the "SDP" protocol. For more information, see software manual "SCHUNK Motion Protocol (SMP)". 6.1.3 Notes on the compatibility of Motion Tool Schunk (MTS) and firmware The "Motion Tool SCHUNK (MTS)" configuration and commissioning tool and the firmware are coordinated with each other.

  • Page 44: Commissioning The Product

    When you open the MTS, you must select the interface you wish to use for communication. "The Motion Tool Schunk (MTS)" can be opened via the DVD or directly on the computer. If the "Motion Tool Schunk (MTS)" is to be opened directly on the computer, you must copy the "MTS"...

  • Page 45: Profinet

    Ø interface, USB mini AB device. Open configuration and commissioning tool "Motion Tool Ø SCHUNK (MTS)" via "mts.exe". Perform initial commissioning via "Motion Tool SCHUNK (MTS)", Ø see software handbook "Motion Tool SCHUNK (MTS)". 6.3 PROFINET 6.3.1 Types of communication of PROFINET The product supports the PROFINET communication types: •...

  • Page 46: Operating Behavior Of The Product

    To ensure a reliable process sequence, SCHUNK recommends carrying out a reference run after each system restart. If a product is connected, the following operating behavior will be exhibited: •...

  • Page 47: Projecting Of The Regulator

    The following illustrations may differ from the actual design. 6.3.4.1 Installing GSDML file The current GSDML file is available (see DVD supplied or ■ download from schunk.com). The project engineering software Siemens TIA-Portal is started. ■ Choose option Extras > Manage device description file (GSD).
  • Page 48 Start-up Highlight the current GSDML file of the product by checking the Ø box. Start the import of the highlighted GSDML file with Install. Ø The Installation window displays the installation steps. ✓ 06.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
  • Page 49 Start-up Confirm the successful completion of the installation with Close. Ø The product will then be automatically made available in the catalog of available hardware: 06.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
  • Page 50 Start-up 6.3.4.2 Projecting the hardware The current GSDML file is installed. ■ In the Devices & Networks area, select the Network View tab. Ø Insert the CPU for the higher-level control from the hardware ✓ catalog Insert product from the hardware catalog ✓...
  • Page 51 Start-up If necessary, adjust the product name in the Properties – Ø General tab. If necessary, adjust the IP addresses in the Properties – Ø PROFINET interface [X1] – Ethernet Addresses tab. 06.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
  • Page 52 Start-up If necessary, select the Configuration Module in Device view tab, Ø and adjust the parameters in the Properties – Module parameters tab. Press the Save project button to save the properties. Ø Press the Translate button to check the accuracy of the Ø...
  • Page 53 Start-up After a successful check, the Translate window will close ✓ automatically. Highlight the CPU of the higher-level control in the project and Ø press the Load in Device button. The Enhanced Load window is shown. ✓ 06.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
  • Page 54 Start-up Apply the following settings: Ø Fieldbus interface ✓ PC interface ✓ Higher-level control interface ✓ Place a check mark at Display all compatible devices ✓ Click the Start search button. Ø In the results list Compatible devices in the destination ✓...

  • Page 55: Operation

    Operation 7 Operation 7.1 Special feature with Firmware 3.03 Parameter position ramp Move parameter to reference 0 If the SDP protocol is used, a value must be entered for the target jerk under the following conditions for a reference run: •...

  • Page 56: Perform Quick Test

    A pending error message is acknowledged. ✓ If the error is still present after acknowledgment, see ✓ "SCHUNK Motion Protocol (SMP)" and "SCHUNK Drive Protocol (SDP)" software manuals and Trouble shooting  64]. Switch DIP switch 3 "Test 1" to "OFF" position.
  • Page 57 A pending error message is acknowledged. ✓ If the error is still present after acknowledgment, see ✓ "SCHUNK Motion Protocol (SMP)" and "SCHUNK Drive Protocol (SDP)" software manuals and Trouble shooting  64]. Switch DIP switch "Test 1" to "OFF" position.

  • Page 58: Change Parameter Configuration On The Product With Usb Stick

    Ø Change configuration The parameters are changed in the "MTS Config Tool", software, see software manual "Motion Tool Schunk (MTS)". Import parameter file The file ending of the parameter file to be imported is *.par. Power supply to the product is switched off ■...

  • Page 59: Updating Firmware

    Operation 7.4 Updating firmware The firmware can only be updated after consultation with SCHUNK's service department via the USB Mini AB (Device) or USB Micro  AB (Host). NOTE The Firmware has the file extension *.bin. 7.4.1 Update via USB Mini AB (device) The firmware can be updated via a Windows computer using the "Firmware Updater"...

  • Page 60: Update Via Usb Micro Ab (Host)

    Do not disconnect the product from the power supply. • If the product is disconnected from the power supply while • the logic board is being updated, send the product to SCHUNK with a repair order. 06.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
  • Page 61 Operation There is new firmware on the USB flash drive ■ The power supply is disconnected from the product ■ DIP switches "1" and "2" are in "OFF" position ■ Connect the USB flash drive to the USB Micro AB, host. Ø...
  • Page 62 Do not disconnect the product from the power supply. • If the product is disconnected from the power supply while • the logic board is being updated, send the product to SCHUNK with a repair order. There is new firmware on the USB flash drive ■...
  • Page 63 Operation Switch DIP switch 2 to "ON" position. Ø LED 1 and LED 2 light up green. ✓ LED 6 lights up red. ✓ LED 3 lights up yellow. ✓ LED 4 flashes red once. ✓ NOTE The logic board is being updated. •...

  • Page 64: Trouble Shooting

    8 Trouble shooting Once an error with an error message is eliminated, this error message must be acknowledged, see the "SCHUNK Motion Protocol (SMP)" and "SCHUNK Drive Protocol (SDP)" software manuals. The error is indicated in the service window via LED 4,  25].

  • Page 65: Communication Malfunction

    Check logic supply fuse and replace if necessary. The connection between the product and Check bus cable or USB cable for damage "Motion Tool SCHUNK (MTS)" was interrupted and replace if necessary. No communication can be established with Check delivery state.

  • Page 66: Product Moves In A Jerky Fashion, Is Sluggish Or Blocked

    Product is overloaded Check load situation, e.g. maximum permissible finger weight, maximum permissible finger length, load data of the base jaws. Check product, contact SCHUNK Service if necessary. Voltage supply malfunction Check the power output of the power supply unit. Check power cable line and cable cross sections (high loss of voltage possible with 24 VDC power supply).

  • Page 67: Disassembly And Assembling

    Incorrect works can cause damage to the mechanics and internal electronics. Disassembly or opening of the product is not permitted. • Only allow SCHUNK to repair the product. • 06.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...

  • Page 68: Eu-Declaration Of Conformity

    A1:2011 standards - Interference emissions in residential, commercial, industrial and light industrial environments IEC 61000-6-3: 2006 + A1:2010 Signed for and on behalf of: SCHUNK GmbH & Co. KG Dr.-Ing. Manuel Baumeister, Technology & Innovation, Mechatronics & Sensors Lauffen/Neckar, February 2020...

  • Page 69: Translation Of Original Declaration Of Incorporation

    11 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...

  • Page 70: Annex To Declaration Of Incorporation

    Annex to Declaration of Incorporation 12 Annex to Declaration of Incorporation according 2006/42/EG, Annex II, No. 1 B 1.Description of the essential health and safety requirements pursuant to 2006/42/EC, Annex I that are applicable and that have been fulfilled with: Product designation 2-finger parallel gripper Type designation ID number...
  • Page 71 Annex to Declaration of Incorporation Protection against mechanical hazards 1.3.6 Risks related to variations in operating conditions 1.3.7 Risks related to moving parts 1.3.8 Choice of protection against risks arising from moving parts 1.3.8.1 Moving transmission parts 1.3.8.2 Moving parts involved in the process 1.3.9 Risks of uncontrolled movements Required characteristics of guards and protective devices...
  • Page 72 Annex to Declaration of Incorporation Information 1.7.1 Information and warnings on the machinery 1.7.1.1 Information and information devices 1.7.1.2 Warning devices 1.7.2 Warning of residual risks 1.7.3 Marking of machinery 1.7.4 Instructions 1.7.4.1 General principles for the drafting of instructions 1.7.4.2 Contents of the instructions 1.7.4.3...

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