SCHUNK EGL Assembly And Operating Manual
2-finger-parallel gripper
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- Assembly and operating manual (68 pages)
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Summary of Contents for SCHUNK EGL
- Page 1 Translation of Original Operating Manual Assembly and Operating Manual 2-finger-parallel gripper Firmware 2.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.
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Page 3: Table Of Contents
Design and description.................... 23 Design ......................... 23 Description ...................... 23 Interfaces and service windows ................. 24 4.3.1 LED...................... 26 4.3.2 DIP switch .................... 28 Functional principle .................... 28 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 4 Maintenance intervals.................. 67 Disassembly and assembling ................ 67 EU-Declaration of Conformity ................. 68 10 Translation of original declaration of incorporation .......... 69 11 Annex to Declaration of Incorporation .............. 70 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 5: General
Non-observance can lead to irreversible injury and even death. CAUTION Dangers for persons! Non-observance can cause minor injuries. CAUTION Material damage! Information about avoiding material damage. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 6: Applicable Documents
• "SCHUNK Motion Protocol (SMP)" software manual • "SCHUNK Drive Protocol (SDP)" software manual • Firmware manager • Assembly and Operating Manual • USB driver 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 7: Accessories
A wide range of accessories are available for this product For information regarding which accessory articles can be used with the corresponding product variants, see catalog data sheet. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 8: Basic Safety Notes
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. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 9: Gripper Fingers
Immunity for industrial environments (2005) EN 61000-6-3 Interference emissions in residential, (2011) commercial, industrial and light industrial environments EN 61000-6-4 Emission standard for industrial environments (2007) 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 10: Environmental Conditions
Air humidity 55%, non-condensing, dry heat, in operation Temperature EN 60068-2-1 0°C Cold, storage, in operation Temperature EN 60068-2-30 +25 … +55°C Damp heat, cyclic 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 11 Shock form Half sine (Version 2009) Peak acceleration 250 m/s Pulse duration 11 ms Number of shocks 50 per axis per direction Number of axes 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 12: Personnel Qualification
• 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 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 13: 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 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 14: Disposal
• Stand clear of suspended loads and do not step into their swiveling range. • Never move loads without supervision. • Do not leave suspended loads unattended. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 15: Protection During Commissioning And Operation
Before starting up the machine or automated system, check that the EMERGENCY STOP system is working. Prevent operation of the machine if this protective equipment does not function correctly. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 16: Protection Against Electric Shock
• The effectiveness of the potential equalisation must be verified by executing regular safety measurements. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 17: Protection Against Magnetic And Electromagnetic Fields
A special additional EMC test may be necessary if the system has a high risk potential. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 18: 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 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 19 In case of an energy supply failure, the gripping force decreases and a secure hold on the gripped workpiece cannot be guaranteed. Take suitable protective measures to secure the danger zone. • 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 20: Technical Data
SCHUNK recommends: Littelfuse 1A time delay (0154001 .DRTL) More technical data is included in the catalog data sheet. Whichever is the latest version. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 21: Diagrams
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 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 22: Ambient Temperature [°C]
The v-L diagram shows the maximum finger length according to the set motor current and the process speed. If the maximum finger length is exceeded, the guides will wear prematurely. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 23: Design And Description
Depending on the bus system, various address ranges and communication protocols are available: Address range Communication protocol PROFIBUS 0-127 SDP* / SMP CAN bus 0-255 *) recommended by SCHUNK 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 24: Interfaces And Service Windows
PROFIBUS or CAN bus socket Communication output or termination resistor *) IMPORTANT! Do not load the USB interface from the side as it may be damaged. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 25 • If a USB device is connected to the interface USB mini AB, device. • When connecting the USB stick to the interface USB micro AB, host and when the DIP switch 1 is "ON". 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 26: Led
Micro AB, host (CAN bus communication interface). • Lights up if a firmware update is being installed via USB Micro AB, host (PROFIBUS communication interface). 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 27 • Lights up if communication via PROFIBUS or CAN bus state has been interrupted. • Does not light up if there is communication via PROFIBUS or CAN bus. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 28: Dip Switch
"SCHUNK Drive Protocol (SDP)" and "SCHUNK Motion Protocol (SMP)" software manuals. SCHUNK recommends using the "SDP" protocol. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 29: Assembly And Settings
Observe the permissible depth of engagement. ✓ Observe the tightening torque for the mounting screws. ✓ Assembly example, EGL PROFIBUS/CAN bus variant with connecting element adapter plate 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 30: Min
Depth of engagement and tightening torque, finger to base jaw Designation Thread Minimum depth of engagement [mm] Maximum depth of engagement [mm] Centering sleeve [Ø] Tightening torque [Nm] 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 31: Electrical Connection
Note on EMC conformity (according to EN 61000-6-3: 2007+A1:2011): • The product may only be used in DC distribution networks with an expansion of < 30 m. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 32: Pin Allocation
CAN bus are A-coded. PIN allocation of socket and plug for Profibus oder CAN bus Profibus +5V bus PB-B PB-A – PB-GND CAN bus CAN-H – CAN-L GND-CAN 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 33: Cable Connections
0.8 Nm for the cable. Cable outlets and strain relief Communication cable (PROFIBUS, CAN bus ) Voltage supply cable Cable outlets and strain relief (shown as an example) 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 34: Wiring Diagram
Wiring diagramm 5.2.4 External protection The power circuit of the EGL needs to be protected by a fuse provided by the customer, Technical data 20]. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 35: Assembling And Connecting
Make sure, that no residual energy remains in the system. • NOTE Mount the product so that sufficient heat dissipation is guaranteed. A temperature malfunction may occur if the product reaches excessively high temperatures. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 36 ✓ "Logic supply" LED 2 lights up green. ✓ "Module status" LED 3 flashes yellow. ✓ "Module error" LED 4 does not light up. ✓ 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 37: Connecting Ground Cable
Always use all components to screw in the ground cable and install them in this order: toothed lock washer, cable lug, washer and bolt. See "Ground connection" diagram. Observe the tightening torque. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 38: Combining Several Products (Profibus, Can Bus)
DIP switches "4" and "5", DIP switch 28]. The following settings are possible: DIP switch 4 DIP switch 5 Baud rate 125 kbaud 250 kbaud 500 kbaud 1000 kbaud 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 39: Configuring Profibus Or Can Bus
Switch on the logic voltage. Ø CAN bus and PROFIBUS address range Fieldbus Decimal address range Hexadecimal address range PROFIBUS 0-125 00-7D CAN bus 0-255 00-FF 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 40: Performing A Quick Test
Via the USB device or the bus interface, a quick test can be performed with the DIP switches 2 "Test 2" and 3 "Test 1". The USB host must be inactive for the quick test. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 41 Switch DIP switch 3 "Test 1" to "OFF" position. Ø Switch logic voltage off and back on again. Ø Test mode is ended. ✓ Product is restarted. ✓ 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 42: Commissioning The Product
• Target speed – 10% of maximum value • Target acceleration – 10% of maximum value • Target jerk – 50% of maximum value 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 43 Open "Motion Tool SCHUNK (MTS)" via "mts.exe", Ø Opening Motion Tool SCHUNK (MTS) 46]. Perform initial commissioning via "Motion Tool SCHUNK (MTS)", Ø Performing initial commissioning 48]. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 44: Install The Usb Driver
✓ For 32-bit systems: install_x86.exe ✓ The "Device Driver Installation Wizard" window appears. ✓ Click the "Continue" button. Ø The USB driver is installed. ✓ 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 45 "Install this driver software anyway". After successful installation, the "Device Driver Installation ✓ Wizard" window appears. Click the "Finish" button. Ø USB driver installation is finished. ✓ 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 46: Connecting The Product To The Computer
Procedure for Windows 7 The computer is connected to the product via USB Mini AB, ■ Device Open Motion Tool SCHUNK (MTS) via "mts.exe". Ø 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 47 Go to "Settings" and choose "Open Communication…" from the Ø menu. The "Open Communication" window appears. ✓ Choose the "USB Bulk SCHUNK" interface and click the "Select" Ø button. Communication is established. ✓ 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 48: Performing Initial Commissioning
The most important SMP commands can be selected on the right side of the product window. All other possible SMP commands can be found under the "Module" menu option. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 49 ✓ displayed. Click the "Move" button. Ø The product moves in the defined cycle. ✓ To test further SMP commands, choose the "Module" option. Ø 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 50: Updating Firmware
The power supply of the product is connected ■ The computer is connected to the product via USB Mini AB, ■ Device Start Motion Tool SCHUNK (MTS) using "mts.exe". Ø 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 51 Go to "Settings" and choose "Open Communication…" from the Ø menu. The "Open Communication" window appears. ✓ Choose the "USB Bulk SCHUNK" interface and click the "Select" Ø button. Communication is established. ✓ 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
- Page 52 Select "New firmware on the computer" and click the "Open" Ø button. The "File selection" window closes. ✓ The "Password Entry" window appears. ✓ Enter your password and click the "OK" button. Ø 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
- Page 53 The progress of the update is displayed in the "Update ✓ firmware:" window. When the update is finished, the "Please restart the module" Ø message appears in the "Update firmware:" window. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 54: Update Via Usb Micro Ab (Host)
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. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 55 Disconnect the product from the power supply. Ø Disconnect the USB flash drive from the USB Micro AB, host. Ø Switch DIP switches "1" and "2" to "OFF" position. Ø 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
- Page 56 LED 1 and LED 2 light up green. ✓ LED 6 lights up red. ✓ LED 3 lights up yellow. ✓ LED 4 flashes red once. ✓ 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
- Page 57 ✓ After LED 3 goes out, LED 4 lights up red. ✓ The firmware update was successful and the product is ready ✔ for use. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 58: Systemintegration
The number of connected products depends on the used bus system. A maximum of 255 IDs can be assigned. For more information, see Motion Control document. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 59: Schunk Motion Protocol
"0x02". If the request fails, D-Len will have the value "0x02". NOTE For specific features of the different bus systems, please consult the software manual Motion control. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 60: Important Commands
• Acceleration (optional) • Current (optional) • Jerk (optional) Response (Slave -> Master): If possible, the time that the module needs for the movement is returned. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 61 Response (Slave -> Master): "OK" (0x4F4B) if successful. Others: Spontaneous message is possible. Example for CMD STOP D-Len Param Meaning M -> S 0x01 0x91 S -> M 0x03 0xB5 0x4F 0x4B 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
- Page 62 "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 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 63: Start-Up
If products are connected to the SPS via PROFIBUS or PROFINET, the "SMP" protocol is available. For PROFIBUS, SCHUNK recommends using the "SDP" protocol. For more information, see software manual "SCHUNK Motion Protocol (SMP)". 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 64: Notes On The Compatibility Of Motion Tool Schunk (Mts) And Firmware
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". 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 65: Trouble Shooting
OR: Before saving, stop the product using fast stop. IMPORTANT! New values are not saved in EEPROM if the product is under control or in motion. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 66: Product Moves In A Jerky Fashion, Is Sluggish Or Blocked
Check setpoint settings and enter suitable acceleration are not suitable or too low values, see the "SCHUNK Motion Protocol (SMP)" and "SCHUNK Drive Protocol (SDP)" software manuals. 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
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. • 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 68: Eu-Declaration Of Conformity
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, March 2020 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 69: Translation Of Original Declaration Of Incorporation
Person authorized to compile the technical documentation: Robert Leuthner, Address: see manufacturer's address Lauffen/Neckar, March 2020 Dr.-Ing. Manuel Baumeister, Technology & Innovation, Mechatronics & Sensors 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 70: Annex To Declaration Of Incorporation
Risk of loss of stability 1.3.2 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 04.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 71 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 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
- Page 72 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 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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