Related Manuals for SCHUNK PCFC
Summary of Contents for SCHUNK PCFC
- Page 1 Translation of Original Operating Manual Assembly and Operating Manual PCFC Passive Compliant Force Control Tool...
- Page 2 Imprint Imprint Copyright: This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights reserved. Technical changes: We reserve the right to make alterations for the purpose of technical improvement. Document number: 1454631 Version: 01.00 | 08/03/2021 | en...
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Page 3: Table Of Contents
Design and description.................... 15 Design ......................... 15 Description ...................... 15 Assembly and installation .................. 16 Installing and connecting.................. 16 Connections...................... 17 5.2.1 Mechanical connection................ 17 5.2.2 Pneumatic connection................ 19 5.2.3 Electrical connection ................ 21 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... - Page 4 Maintenance ...................... 30 Notes ........................ 30 Maintenance interval .................. 30 Recalibrate position sensor ................ 31 Assembly drawings ..................... 33 EC declaration of incorporation................ 34 10 Annex to Declaration of Incorporation .............. 35 01.00 | PCFC | Assembly and Operating Manual | en | 1454631...
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Page 5: General
Non-observance can cause minor injuries. CAUTION Material damage! Information about avoiding material damage. 1.1.2 Definition of Terms The term "product" replaces the product name on the title page in this manual. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 6: Applicable Documents
• Adapter plate • Regulator Kit For information regarding which accessory articles can be used with the corresponding product variants, see catalog data sheet. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 7: Basic Safety Notes
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. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 8: Ambient Conditions And Operating Conditions
Due to its technical training, knowledge and experience, service personnel of the manufacturer is able to perform the delegated the manufacturer tasks and to recognize and avoid possible dangers. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 9: Personal Protective Equipment
• 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. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 10: Disposal
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. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 11: 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. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 12: Notes On Particular Risks
During operation, flying chips and dirt particles can cause eye injuries. Always wear appropriate personal protective equipment, • particularly protective goggles. Take suitable protective measures to secure the danger zone. • 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 13: Technical Data
Communication interface Interface RS485 Baud rate 115200 Analog voltage output [V] 0-10 Analog current output [A] 0.004-0.02 Ambient conditions and operating conditions Designation PCFC Ambient temperature [°C] Min. Max. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 14: Compliance Force
• For products mounted at angles between the horizontal and vertical, the actual force must be calculated accordingly. Compliance force PCFC-A-SI PCFC-B-SI PCFC-C-SI Supply pressure [bar] Compliance force as a function of operating pressure 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 15: Design And Description
Rear cover plate for attachment to the robot / for stationary mounting Compensation air connections Air purge connection 4.2 Description Pneumatic, axial compensation unit for flexible adjustment of compensation or pressure forces 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 16: Assembly And Installation
If necessary, use appropriate connection elements (adapter ✓ plates). Observe the permissible depth of engagement. ✓ 4. Mount the end effector, Mechanical connection 17]. 5. Adjust the sensor, if necessary, Adjusting the sensor 22]. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... - Page 17 Fitting bore for centering pin [mm] * provided by customer (available from SCHUNK on request) The catalog data sheet contains more information. The latest version is always applicable. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631...
- Page 18 Assembly and installation End effector connection Item Mounting PCFC Mounting screw Max. tightening torque [Nm] Inner slide cover plate 01.00 | PCFC | Assembly and Operating Manual | en | 1454631...
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Page 19: Pneumatic Connection
• Use a regulator with venting for better regulation of the compressed air. Air purge connection Compensation air connection (extension) Compensation air connection (retraction) Item Mounting PCFC Thread Hose connection [mm] Thread ["] G1/4 Hose connection [mm] 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... - Page 20 (1-4.1 bar) Retract the compressed air line External programmable regulator Air purge (1-4.1 bar) connection (max. 2 bar) Regulator Kit Pneumatic connection diagram for application with gyro sensor 01.00 | PCFC | Assembly and Operating Manual | en | 1454631...
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Page 21: Electrical Connection
VO-/IO- Analog output reference Cal+ Trigger signal calibration Impulse: 24 (+/-20%) VO/IO_REG+ Analog output (for 0-5 V regulator) 0-10 V VO/IO_POS+ Analog output (position 4-20 mA sensor) RS485+ Interface RS485- Interface 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 22: Adjusting The Sensor
The position sensor is preset at the factory. ■ • Recalibrate the sensor if the product has been disassembled or repaired or if the LED behavior is no longer correct, Recalibrate position sensor 31]. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 23: Setting The Gyro Sensor
5. Calculate air pressure for compensation air connection (extend): 1/2 x P1 + 3.5 x F F corresponds to the desired force with which the product ✓ should work. 6. Set the calculated air pressure. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... - Page 24 Set a new value for the mentioned [value] parameter. Factory Reset all parameters to default values. SaveAll Save all changes to the parameters. StartCal Start calibration. ManCal Start manual calibration. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631...
- Page 25 > = Compressed < = Formatted Flow Output current values during each step in the main signal flow. Status Output status. LED test Start LED test. Reset Reset microcontroller. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631...
- Page 26 Name (32) posOutput Position output Setting the analog output Uint16 Range range of the position sensor: 5 = 0-5 V 10 = 0-10 V 20 = 4-20 mA 01.00 | PCFC | Assembly and Operating Manual | en | 1454631...
- Page 27 Calibration Settling time delay in ms, 3000 Uint16 max/min which must be waited for settling time before measuring the delay minimum and maximum positions during the calibration process 01.00 | PCFC | Assembly and Operating Manual | en | 1454631...
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Page 28: Operation
LEDs Full extend Start of Safe travel End of travel Robot crash (0 mm) travel zone (11.5 mm) (12 mm) (0.5 mm) (0.5-11.5 mm) RED_FULL_EXTND GREEN Green Green Green RED_OUT_TRVL 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 29: Troubleshooting
Check permissible load, Technical data 13]. 7.2 Uneven deburring result Possible cause Corrective action Product is leaking. Contact the SCHUNK contact person. The pressure valve is defective. Change pressure valve. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 30: Maintenance
Clean all parts thoroughly, check for damage and wear as required Recalibrate the position sensor, Recalibrate position sensor 31]. Send damaged products to SCHUNK for repair. 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 31: Recalibrate Position Sensor
LEDs per calibration step. LEDs Full extend Start of Safe travel End of travel Robot crash (0 mm) travel zone (11.5 mm) (12 mm) (0.5 mm) (0.5-11.5 mm) RED_FULL_EXTND GREEN Green Green Green RED_OUT_TRVL 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... - Page 32 Maintenance Flashing frequency of the LEDs per calibration step CalStep Frequency [Hz] RED_OUT_TRVL GREEN RED_FULL_ EXTND 1.33 1.33 1.33 01.00 | PCFC | Assembly and Operating Manual | en | 1454631...
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Page 33: Assembly Drawings
Maintenance 8.4 Assembly drawings 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 34: Ec Declaration Of Incorporation
Person authorized to compile the technical documentation: Robert Leuthner, Address: see manufacturer's address Lauffen/Neckar, March 2021 p.p. Ralf Winkler; Head of Technology & Engineering, Mechanics Gripping Systems 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... -
Page 35: Annex To Declaration Of Incorporation
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 1.3.5 Risks related to combined machinery 01.00 | PCFC | Assembly and Operating Manual | en | 1454631... - Page 36 Risk of slipping, tripping or falling 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 01.00 | PCFC | Assembly and Operating Manual | en | 1454631...
- Page 37 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 01.00 | PCFC | Assembly and Operating Manual | en | 1454631...
- Page 40 Translation of Original Operating Manual SCHUNK GmbH & Co. KG Clamping and gripping technology Bahnhofstr. 106 - 134 D-74348 Lauffen/Neckar Tel. +49-7133-103-0 Fax +49-7133-103-2399 info@de.schunk.com schunk.com Folgen Sie uns I Follow us...
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