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Summary of Contents for SCHUNK SVH
- Page 1 Translation of Original Operating Manual Assembly and Operating Manual Servo-electric 5-Finger Gripping Hand...
- 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
Extended use on assembly board............... 23 Mounting to a robot or moving unit.............. 24 System requirements for commissioning ............ 26 Operation ....................... 27 Homing ....................... 27 Operation ...................... 29 02.00 | SVH | Assembly and Operating Manual | en | 389734... - Page 4 Communication via Ethernet interrupted ............ 30 Fingers are colliding.................... 30 SVH is not reacting, not moving or stops suddenly .......... 30 Unusual noise during operation ................. 31 Maintenance ...................... 32 02.00 | SVH | Assembly and Operating Manual | en | 389734...
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Page 5: 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. 02.00 | SVH | Assembly and Operating Manual | en | 389734... -
Page 6: Applicable Documents
• Mecovis parameter set • Assembly board (integrated: BananaPI, USB Isolator, Brainbox, FWK-ISO 115, var. cables) • Power supply unit and cable • Zarges boxes (packaging material) • CD (software) 02.00 | SVH | Assembly and Operating Manual | en | 389734... - Page 7 • Protocol specification for SCHUNK Five Finger Hand • Mecovis S5FH-controller user's guide • DOF Diagram/range of movement/joint torque • Schunk Readme CD content may change in line with technological developments. 02.00 | SVH | Assembly and Operating Manual | en | 389734...
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Page 8: Basic Safety Notes
Examples of inappropriate use include the product being used as a press tool, being overloaded, or being used in an environment that is not low-dust/dry. 02.00 | SVH | Assembly and Operating Manual | en | 389734... -
Page 9: Ambient Conditions And Operating Conditions
• Structural changes should only be made with the written approval of SCHUNK. 02.00 | SVH | Assembly and Operating Manual | en | 389734... -
Page 10: 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. 02.00 | SVH | Assembly and Operating Manual | en | 389734... -
Page 11: Notes On Particular Risks
If the EMC directive is not observed when connecting the product, malfunctions in the control units and drives can cause unexpected machine movements. Observe the EMC directive when connecting the product. • 02.00 | SVH | Assembly and Operating Manual | en | 389734... - Page 12 To avoid damage due to electrostatic charges, do not touch • the electrical components. Properly execute all grounding, fastening and cabling work in • accordance with applicable regulations. 02.00 | SVH | Assembly and Operating Manual | en | 389734...
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Page 13: Notes For Integrators
• The integrator is to equip the MRK robot system with a category 0 emergency stop pursuant to IEC 60204 -1, which also disables the gripper. 02.00 | SVH | Assembly and Operating Manual | en | 389734... -
Page 14: Technical Data
Number of joints 3.3 Electrical operating data Designation Power supply 24 V DC ±5% Max. current input 3.5 A Sensor system Interfaces • FWA115 flat change system • RS 485 02.00 | SVH | Assembly and Operating Manual | en | 389734... -
Page 15: Data Assembly Board
• Socket for external power supply unit • USB socket • Ethernet socket 3.5 Name plate The name plate is placed in the interior on the heat sink. 02.00 | SVH | Assembly and Operating Manual | en | 389734... -
Page 16: Design And Description
The 5‐finger gripping hand was designed SVH to be attached to a standard LWA 4P or LWA 4D lightweight arm. The defined mechanical and electrical interface also makes it possible to attach it to other commercially available industrial and lightweight robots. - Page 17 The 5‐finger gripping hand SVH can either operate on the assembly board included or on another piece of equipment (connection via the FWK115-ISO flat change system), Assembly and installation 19]. 02.00 | SVH | Assembly and Operating Manual | en | 389734...
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Page 18: Assembly Board
The assembly board is basically comprised of: • the operating and control panels • BananaPI (single-board computer) • RS485/USB interface converter • USB Isolator • FWK115‐ISO flat change system 02.00 | SVH | Assembly and Operating Manual | en | 389734... -
Page 19: Assembly And Installation
Risk of operational malfunction due to short circuit or incorrect connections! Before connecting, ensure that the electrical lines are de- • energized. Be sure to distribute the clamps correctly. • 02.00 | SVH | Assembly and Operating Manual | en | 389734... - Page 20 Operating on an external robot arm • Mounting with the FWK11‐ISO flat change system • Free programming • The operator is responsible for the mechanical connection, electrical connection and software used. 02.00 | SVH | Assembly and Operating Manual | en | 389734...
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Page 21: Assembly And Installation On An Assembly Board
Clamping ring with Adapter board clamping screws Centering pin Connection to the 5-finger gripping hand SVH Flange with seal for Bore hole for centering mechanical mounting Adapter board 02.00 | SVH | Assembly and Operating Manual | en | 389734... - Page 22 ✓ The 5‐finger gripping hand performs a reset cycle to detect the end stops for the fingers. Powering down Switch the illuminated ON/OFF push button to "OFF". Ø 02.00 | SVH | Assembly and Operating Manual | en | 389734...
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Page 23: Starting Schunk Gui Diagnostics
This bypasses the single-board computer in the assembly board. The 5-finger hand can be controlled with an external software via the USB interface. Further information about the SCHUNK ROS driver at http:// wiki.ros.org/schunk_svh_driver. 02.00 | SVH | Assembly and Operating Manual | en | 389734... -
Page 24: Mounting To A Robot Or Moving Unit
Connection to the flat change system Supply voltage 24VDC on RS485/USB interface soldering surfaces converter ("Brainbox") Flat change system USB isolator JST plug connector 02.00 | SVH | Assembly and Operating Manual | en | 389734... - Page 25 Plug the JST connector of the signal lines in the JST adapter Ø board socket. Connect the JST connector to the D‐Sub connection of the Ø RS485/USB interface converter ("Brainbox"). 02.00 | SVH | Assembly and Operating Manual | en | 389734...
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Page 26: System Requirements For Commissioning
Commissioning is dependent on the control software installed. The operator is responsible for complying with the technical specifications of the 5‐finger gripping hand SVH, see Technical data 14]. 02.00 | SVH | Assembly and Operating Manual | en | 389734... -
Page 27: Operation
Operation 6 Operation The following considerations generally apply to operations: • When the 5‐finger gripping hand SVH is mounted on an external device (e.g. external robot arm), the operator is responsible for ensuring the operational safety of this equipment. • The fingers (excluding the thumb) can be carefully moved manually in the event of a failure of the power supply. - Page 28 500 rpm LITTLE Stretch 2,000 45,000 500 rpm FINGER The following table contains the drive motor data. The maximum values specified must not be exceeded when developing customizations. 02.00 | SVH | Assembly and Operating Manual | en | 389734...
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Page 29: Operation
Operating and running the 5-finger gripping hand SVH is dependent on the software installed. The 5‐finger gripping hand SVH can be operated via the assembly board, Assembly and installation on an assembly board 21]. 02.00 | SVH | Assembly and Operating Manual | en | 389734... -
Page 30: Troubleshooting
Communication has been Check the signal cable connected incorrectly connection Supply cable is defective Check supply cables for damage; replace if necessary 02.00 | SVH | Assembly and Operating Manual | en | 389734... -
Page 31: Unusual Noise During Operation
Troubleshooting 7.5 Unusual noise during operation Possible cause Corrective action Mechanical damage Send the product to SCHUNK for repair 02.00 | SVH | Assembly and Operating Manual | en | 389734... -
Page 32: Maintenance
The components of the 5-finger gripping hand are adapted to each other. Repairs are only possible at the manufacturer. For repair or replacement, send the product repair order to Ø SCHUNK with a repair order. 02.00 | SVH | Assembly and Operating Manual | en | 389734...
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