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Summary of Contents for SCHUNK EGI Series
- Page 1 Translation of Original Operating Manual Assembly and Operating Manual Gripper for small components...
- 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
Table of Contents Table of Contents General........................ 5 About this manual .................... 5 1.1.1 Presentation of Warning Labels ............... 5 1.1.2 Definition of Terms................... 5 1.1.3 Trademarks.................... 6 1.1.4 Symbol definition.................. 6 1.1.5 Applicable documents ................ 6 1.1.6 Sizes ...................... 6 1.1.7 Variants..................... 6 Warranty ...................... 7 Scope of delivery .................... - Page 4 Table of Contents Design and description.................... 23 Design ......................... 23 Description ...................... 23 Functional principle .................... 24 Displays and control elements ................ 24 4.4.1 LED status display PROFINET .............. 24 4.4.2 LED status display EtherNet/IP™ ............ 26 4.4.3 LED status display EtherCAT .............. 28 4.4.4 Service interface .................. 30 Types of communication of PROFINET ...............
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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: Trademarks
• Assembly and operating manuals of the accessories * • Software manual "EGI with PROFINET, EtherCAT or EtherNet/IP interface" * The documents marked with an asterisk (*) can be downloaded on our homepage schunk.com 1.1.6 Sizes This operating manual applies to the following sizes: • EGI 40 •... -
Page 7: Warranty
General 1.2 Warranty The warranty is 24 months or a maximum of 10 million cycles * from the date of delivery from the production facility if used as intended under the following conditions: • Observe the ambient conditions and operating conditions, Ambient conditions and operating conditions 9] •... -
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 20]. -
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 of gripper fingers • Only replace gripper fingers if no residual energy can be released. -
Page 10: Environmental Conditions
Basic safety notes 2.6.1 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: Insulation Resistance And Voltage Resistance In Accordance With En 60204-1
Basic safety notes 2.6.2 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: Personnel Qualification
Basic safety notes 2.7 Personnel qualification Inadequate qualifications of the personnel If the personnel working with the product is not sufficiently qualified, the result may be serious injuries and significant property damage. • All work may only be performed by qualified personnel. •... -
Page 13: 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 14: Transport
Basic safety notes 2.10 Transport Handling during transport Incorrect handling during transport may impair the product's safety and cause serious injuries and considerable material damage. • When handling heavy weights, use lifting equipment to lift the product and transport it by appropriate means. •... -
Page 15: Fundamental Dangers
Basic safety notes 2.13 Fundamental dangers General • Observe safety distances. • Never deactivate safety devices. • Before commissioning the product, take appropriate protective measures to secure the danger zone. • Disconnect power sources before installation, modification, maintenance, or calibration. Ensure that no residual energy remains in the system. -
Page 16: Protection Against Dangerous Movements
Basic safety notes 2.13.3 Protection against dangerous movements Unexpected movements Residual energy in the system may cause serious injuries while working with the product. • Switch off the energy supply, ensure that no residual energy remains and secure against inadvertent reactivation. •... -
Page 17: 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 18: 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 19 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 •...
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Page 20: Technical Data
Technical data 3 Technical data 3.1 Basic data Designation EGI 40 EGI 80 Mechanical operating data Weight [kg] 1.02 1.55 Gripping force [N] Min. Max. Ambient conditions and operating conditions Noise emission [dB(A)] ≤ 70 IP rating Air purity class according to DIN EN ISO 14644-1 Ambient temperature [°C] Min. -
Page 21: Diagrams
The dependency of gripping force on finger length is shown in the diagrams below. The range shown has been determined with a standardized SCHUNK test finger. The gripping force attainable for a specific workpiece depends on the design of the gripper finger. - Page 22 Technical data The specified gripping force is the force that the gripper applies at point P and that it can hold continuously. To determine the nominal gripping force, the product is installed with a positive locking on an aluminum plate (200x200x20 mm³). The product can hold this nominal gripping force up to an ambient temperature of 55 °C.
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Page 23: Design And Description
Design and description 4 Design and description 4.1 Design Gripper for small components EGI, example PROFINET variant Base jaw Centering sleeves for connecting the gripper fingers Housing LED status display Connection for functional ground Power connection PWR Bus connection P1 Bus connection P2 4.2 Description The product is a servo-electric 2-finger parallel gripper featuring integrated electronics and communication interface. -
Page 24: Functional Principle
Design and description • For further information on the bus system EtherCAT, see chapter Communication types of EtherCAT 31]. 4.3 Functional principle • The product can be activated directly from the PLC like a drive controller without gateways. • The position is freely programmable within the available stroke. •... - Page 25 Design and description LED status display PROFINET Designation Color Function LOG Supply logic Green LED off: No supply voltage logic present, or supply voltage logic is outside the operating range for the module. LED lights up green: Supply voltage logic is present. PWR Supply power Green LED off: No supply voltage power present, or supply voltage power is outside the operating range for the...
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Page 26: Led Status Display Ethernet/Ip
Design and description 4.4.2 LED status display EtherNet/IP™ The status values of the product are displayed via the LED status display. LED, EtherNet/IP™ Designation Color Function LOG Supply logic Green LED off: No supply voltage logic present, or supply voltage logic is outside the operating range for the module. - Page 27 Design and description Designation Color Function Network status Red/ LED off: No supply voltage present and/or no IP address. Green LED lights up green: Product is online. One or more connections are/have been established (CIP™ Class 1 or 3) LED flashes green: Product is online, but has not yet established a connection.
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Page 28: Led Status Display Ethercat
Design and description 4.4.3 LED status display EtherCAT The status values of the product are displayed via the LED status display. LED EtherCAT Designation Color Function Supply logic Green LED off: No supply voltage logic present, or supply voltage logic is outside the operating range for the module. LED lights up green: Supply voltage logic is present. - Page 29 LED lights up red: If RUN LED (ST) and ERR LED (MS) light up red, this indicates a serious error. The bus interface has been put into a physically passive state. Contact SCHUNK Service. ERROR ERR LED LED off: No supply voltage present and/or no error.
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Page 30: Service Interface
Design and description 4.4.4 Service interface NOTE Only SCHUNK service engineers may access the SERVICE interface. Do not remove the cover plug (1). Service interface Service interface cover plug 4.5 Types of communication of PROFINET The product supports the communication types: •... -
Page 31: Communication Types Of Ethernet/Ip
Design and description 4.6 Communication types of EtherNet/IP™ The product supports the EtherNet/IP™ communication types: • Cyclic and acyclic EtherNet/IP™ communication • Protocol implementation according to the Common Industrial Protocol (CIP™) defined by the Open DeviceNet Vendor Association (ODVA®) • Two EtherNet/IP™ ports •... -
Page 32: Assembly And Settings
33]. Use suitable connecting elements (adapter plates) if ✓ necessary. If required, adapter plates can be requested from SCHUNK. Observe the maximal tightening torque, admissible screw-in ✓ depth and, if necessary, strength class. Secure the gripper fingers to the base jaws, Mechanical Ø... -
Page 33: Mechanical Connection
Assembly and settings Plug the communication cable onto the sockets and screw the Ø threaded ring in by hand, Electrical connection 35]. Observe the maximum tightening torque, Cable connections 37]. If applicable: connect multiple products to each other, Ø Combining multiple products 40]. - Page 34 Assembly and settings Connections at the base jaws Connections to the base jaws Mounting screw Centering sleeve Gripper fingers Base jaw Depth of engagement and tightening torque, gripper finger to base jaw Item Designation Mounting screw, (2 Piece) Screw-in depth [mm] Min.
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Page 35: Pin Allocation
Assembly and settings 5.3 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 36 Assembly and settings The voltage is supplied via a T-coded M12 connector. EGI 80 EGI 80: Pin allocation for voltage supply connector +24 V Logic GND Logic GND Power +24 V Power Communication EGI 40: The communication interface (PROFINET, EtherCAT or EtherNet/IP™) is implemented via two D-coded M8 sockets. EGI 80: The communication interface (PROFINET, EtherCAT or EtherNet/IP™) is implemented via two D-coded M12 sockets.
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Page 37: Cable Connections
Assembly and settings 5.3.2 Cable connections Cable outlets (example EGI 80) Cable connector communication Cable connector voltage supply CAUTION Material damage due to incorrect assembly! When connecting the cable, do not exceed the maximum • tightening torque of 0.8 Nm for the cable. Make sure that the connections are not stressed due to tensile •... -
Page 38: Wiring Diagram
Assembly and settings 5.3.3 Wiring diagram Power voltage Logic voltage Wiring diagram EGI 5.3.4 External protection The power circuit for the product must be protected at the customer site by a circuit breaker, Technical data 20]. 03.00 | EGI | Assembly and Operating Manual | en | 1396645... -
Page 39: Connecting Ground Cable
Assembly and settings 5.3.5 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 established between the product and the machine on the customer's premises. -
Page 40: Combining Multiple Products
Assembly and settings 5.4 Combining multiple products This chapter describes the basic principle for the communication connection. Combining multiple products PROFINET, EtherCAT or EtherNet/IP™, Socket P1 Bus cable PROFINET, EtherCAT or EtherNet/IP™, Socket P2 When several products are combined, communication is transferred from socket P1 to socket P2 via an internal switch: Connect socket P1 of product "n+1"... -
Page 41: Start-Up
Start-up 6 Start-up The product is commissioned via the PLC. SCHUNK provides the following tools for preparing the commissioning: • Web application, Preparing commissioning with the web application 41]. 6.1 Preparing commissioning with the web application NOTE The product is supplied either with PROFINET, EtherCAT or EtherNet/IP™. - Page 42 Start-up Enter the allocated IP address of the product in the address line Ø of the browser. The web application is started. The start screen will appear ✓ with the product illustrated as well as identification and status information. Any possible errors will be shown in the lower area of the ✓...
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Page 43: Commissioning The Product
Start-up 6.2 Commissioning the product The communication protocol "SCHUNK Flexible Protocol" is System integration available for operation within the plant. For further information, see Software manual "EGI with PROFINET, EtherCAT or EtherNet/IP interface". Configuring the hardware: Ø Assigning the IP address. -
Page 44: Operating Behavior Of The Product
Start-up 6.3 Operating behavior of the product If a product is connected, the following operating behavior will be exhibited: • Behavior when switching on the voltage supply: – After switching on the voltage supply, the product will be in the "fast stop" mode and will not perform any movements. –... -
Page 45: Troubleshooting
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 46: Product Does Not Open
Troubleshooting 7.3 Product does not open Possible cause Corrective action No voltage connected. Check the power supply requirement, (emergency stop chain interrupted, safety Technical data 20]. light curtain triggered.) Insufficient voltage. Error message present Eliminate fault and acknowledge error message, see software manual. Erroneous movement parameter Check setpoint settings and enter suitable values, see the software manual. -
Page 47: Maintenance
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. • 03.00 | EGI | Assembly and Operating Manual | en | 1396645... -
Page 48: Eu-Declaration Of Conformity
EN IEC 61800-3:2018 Adjustable speed electrical power drive systems - Part 3: EMC requirements and specific test methods (IEC 61800-3:2017) Signed for and on behalf of: SCHUNK GmbH & Co. KG Dr.-Ing. Manuel Baumeister, Technology & Innovation, Mechatronics & Sensors Lauffen/Neckar, July 2020 03.00 | EGI | Assembly and Operating Manual | en | 1396645... -
Page 49: Translation Of Original Declaration Of Incorporation
10 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 Clamping and gripping technology Distributor Bahnhofstr. 106 - 134 D-74348 Lauffen/Neckar... -
Page 50: Annex To Declaration Of Incorporation
Annex to Declaration of Incorporation 11 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 Gripper for small components Type designation ID number... - Page 51 Annex to Declaration of Incorporation Protection against mechanical hazards 1.3.5 Risks related to combined machinery 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...
- Page 52 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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