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Translation of the original operating manual Assembly and operating manual PW V6 Servo-electric rotary pan-tilt actuator...
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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.
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. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
• Make sure that the product is used only in the context of its defined application parameters, Technical data 16]. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
• 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. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
• 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. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
• Stand clear of suspended loads and do not step into their swiveling range. • Never move loads without supervision. • Do not leave suspended loads unattended. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
• The effectiveness of the potential equalisation must be verified by executing regular safety measurements. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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. • 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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In case of an energy supply failure, it is the user's • responsibility to revert the drive into a safe state. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
CAN bus [up to 1 MBit/s] PROFIBUS DP [1.5 MBit/s] RS232, parameterization interface More technical data is included in the catalog data sheet. Whichever is the latest version. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
Connection of the logic supply of the product to a 24V power Ø supply unit. Connection of the power supply of the product to a transformer Ø power supply unit or to a switching power supply unit. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
The PROFIBUS address range is between 0 and 127 and the CAN bus range is between 0 and 255. The RS232 interfaces are used to parameterize the axes of the rotary pan-tilt actuator. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
DIP switches for Boot and termination and CAN bus Default termination X1/X2 Marking Function PB_A PROFIBUS_A PB_B PROFIBUS_B CAN_H CAN bus_H CAN_L CAN bus_L +24 V Logic supply Functional earth (optional) 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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ON position. If the product is not the last device on the CAN bus, the CAN termination DIP switch must be in the OFF position. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
Green Motor voltage Indicates whether the motor voltage is connected. • Lights up as long as voltage is present in the product. • Does not light up if there is no voltage in the product. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
Connect the product to the machine/system with screws. Ø Use suitable connecting elements (adapter plates) if ✓ necessary. Observe the permissible depth of engagement. ✓ Observe the tightening torque for the mounting screws. ✓ 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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Base Axis 2 plate plate Centering sleeve [Ø] Mounting screws Minimum depth of engagement [mm] Maximum depth of engagement [mm] Tightening torque [Nm] 5.87 5.87 11.7 11.7 02.00 | PW V6 | Assembly and operating manual | en | 389670...
For 24 V operation: set the brake chopper to 28 V or "0" NOTE The cable color throughout this chapter refers to the use of a SCHUNK connection cable. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
The tilt axis (Axis 1) and the swivel axis (Axis 2) can be parameterized via the respective RS232 interfaces, Commissioning the product 34]. RS232 interface Color Designation Brown n. c. White Blue Black 02.00 | PW V6 | Assembly and operating manual | en | 389670...
CAN L CAN H +24 V +24 V CAN L CAN H Superordinate control system (PC, PLC) Power voltage supply Logic voltage supply CAN bus circuit diagram 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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0.25 mm² Blue 0.25 mm² Power voltage supply +24V 2.5 mm² Blue 2.5 mm² CAN assignment of the 9-pin D-sub socket D-sub socket solder side Terminal CAN_L CAN_H 02.00 | PW V6 | Assembly and operating manual | en | 389670...
+24 V +24 V PB_B PB_A +24 V +24 V PB_B PB_A Superordinate control system (PC, PLC) Power voltage supply Logic voltage supply PROFIBUS DP circuit diagram 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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Blue 0.25 mm² Power voltage supply +24V 2.5 mm² Blue 2.5 mm² PROFIBUS DP assignment of 9-pin D-sub plug D-sub plug solder side Terminal X1 PB_B PB_A 02.00 | PW V6 | Assembly and operating manual | en | 389670...
26] and PROFIBUS DP interface 28]. Start up the product, Commissioning the product 34]. Ø Logic voltage LED lights up. ✓ Motor voltage LED lights up. ✓ 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
Pull the connection cable through the cover (4) or the Ø connection cap (2) and connect it to the adapter board (3). 02.00 | PW V6 | Assembly and operating manual | en | 389670...
X2 of the product are clamped in Terminal X1 of Product n+1. The terminating resistor for CAN bus or PROFIBUS must be set on the last product, CAN bus interface 26] and PROFIBUS DP interface 28]. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
The power supply of the product is connected ■ Connect the USB parameterization cables on the computer and Ø the product to the respective RS232 interfaces. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
Open Motion Tool Schunk (MTS) by using mts.exe. Ø The program window is displayed. ✓ Go to Settings and choose Open Communication… from the Ø menu. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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Select the Serial Generic interface and the customer-specific Ø channel, set the baud rate, and press the Select button. Go to Module and select Search Bus. Ø 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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NOTE In the product window, you can view the status of the product, change parameters, and test Schunk Motion Protocol (SMP) commands; see the Motion Control document. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
Additional control elements for motion commands are ✓ displayed. Click the Move button. Ø The product moves in the defined cycle. ✓ To test further SMP commands, choose the Module option. Ø 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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Assembly and installation To set parameters, select the Parameters option. Ø 02.00 | PW V6 | Assembly and operating manual | en | 389670...
✔ 5.9 Updating firmware NOTICE Risk of damaging the adapter board! Faulty updating of the firmware can cause damage to the adapter board. Contact SCHUNK service. • 02.00 | PW V6 | Assembly and operating manual | en | 389670...
NOTE 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. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
"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. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
• Velocity (optional) • Acceleration (optional) • Current (optional) • Jerk (optional) Response (Slave -> Master): If possible, the time that the module needs for the movement is returned. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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The motor phases are short-circuited. Parameter (Master -> Slave): None. Response (Slave -> Master):Error message "ERROR EMERGENCY STOP" is triggered. Others: Can only be reset by "CMD ACK." 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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"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 02.00 | PW V6 | Assembly and operating manual | en | 389670...
ERROR_CABLE_BREAK (0x76) parameter. Possible cause Corrective action Bus cable fault (connection interrupted). Check bus cable for damage and replace if necessary. Further troubleshooting, see document. Motion Control. 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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. • 02.00 | PW V6 | Assembly and operating manual | en | 389670...
Person authorized to compile the technical documentation: Robert Leuthner, Address: see manufacturer's address Lauffen/Neckar, April 2019 p.p. Ralf Winkler, Manager for development of gripping system components 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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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 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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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 02.00 | PW V6 | Assembly and operating manual | en | 389670...
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