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Assembly and operating instructions
EPS Handling Systems (electrical)
EPS mini YZ
EPS mini XZ
EPS mini XYZ
EPS mini gantry XXYZ
EPS mini gantry s
EPS mini gantry h
Translation of the Original Assembly Instructions EN
Assembly instructions
EPS midi YZ
EPS maxi YZ
EPS midi XZ
EPS midi XYZ
EPS midi gantry XXYZ
EPS midi gantry s
EPS midi gantry h
DE
EPS Handling systems
EPS giga YZ
EPS maxi gantry XXYZ
Date 08.09.2021
Version 2.0
EPS tera YZ
EPS maxi XZ
EPS maxi XYZ
EPS maxi gantry s
EPS maxi gantry h
1–112
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Summary of Contents for Afag EPS mini YZ
- Page 1 Assembly and operating instructions EPS Handling Systems (electrical) EPS mini YZ EPS midi YZ EPS maxi YZ EPS giga YZ EPS tera YZ EPS mini XZ EPS midi XZ EPS maxi XZ EPS mini XYZ EPS midi XYZ EPS maxi XYZ...
- Page 2 Your Afag team © Subject to modifications The EPS handling systems have been designed by Afag according to the state of the art. Due to the constant technical development and improvement of our products, we reserve the right to make technical changes at any time.
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Page 3: Table Of Contents
2.8.6 Mechanical hazards ................15 Technical data ...................... 16 EPS System mini YZ .................. 16 3.1.1 Dimensioned drawing EPS mini YZ ............. 16 3.1.2 Technical data EPS mini YZ ..............17 3.1.3 Module loads EPS mini YZ ..............18 EPS System midi YZ .................. 19 3.2.1 Dimensioned drawing EPS midi YZ ............. - Page 4 Table of contents 3.4.2 Technical data EPS giga YZ ..............26 3.4.3 Module loads EPS giga YZ ..............27 EPS System tera YZ ................... 28 3.5.1 Dimensioned drawing EPS tera YZ ............28 3.5.2 Technical data EPS tera YZ ..............29 3.5.3 Module loads EPS tera YZ ..............
- Page 5 Table of contents 3.15.2 Technical data EPS mini gantry s ............59 3.15.3 Module loads EPS mini gantry s ............60 3.16 EPS midi gantry s ..................61 3.16.1 Dimensioned drawing EPS midi gantry s ..........61 3.16.2 Technical data EPS midi gantry s ............62 3.16.3 Module loads EPS midi gantry s ............
- Page 6 Table of contents Preparatory activities for commissioning ............ 91 Commissioning of the modules ..............91 Settings ....................... 92 6.4.1 Set speeds on electric axes ..............92 6.4.2 Teaching the positions on electric axes ..........96 6.4.3 Adjusting damping and speeds on pneumatic modules ....... 97 6.4.4 External position measuring system ............
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Page 7: General
General General 1.1 Contents and purpose of these assembly instructions These assembly instructions contain important information on assembly, commissioning, functioning and maintenance of the EPS handling system to ensure safe and efficient handling and operation. Consistent compliance with these assembly instructions will ensure: ... -
Page 8: Additional Symbols
General This note contains important additional information as well as useful tips for safe, efficient and trouble-free operation of the EPS handling system. Further warning signs: Where applicable, the following standardised symbols are used in this manual to point out the various potential health risks. Warning - Dangerous electrical voltage. -
Page 9: Applicable Documents
This does also apply to defective accessories and wear parts. Normal wear and tear are excluded from the warranty. The warranty covers the replacement or repair of defective Afag parts. Further claims are excluded. The warranty shall expire in the following cases: ... -
Page 10: Safety Instructions
Safety instructions Safety instructions 2.1 General This chapter provides an overview of all important safety aspects to ensure safe and proper use of the EPS handling system and optimal protection of personnel. Safe handling and trouble-free operation of the EPS handling system requires knowledge of the basic safety regulations. -
Page 11: Obligations Of The Operator And The Personnel
the operating company shall be solely responsible for such damage, and AFAG does not accept any liability for damage caused by improper use. 2.4 Obligations of the operator and the personnel 2.4.1... -
Page 12: Obligations Of The Personnel
Safety instructions 2.4.3 Obligations of the personnel All personnel working with the rotary modules are required to: read and observe these assembly instructions, especially the chapter on safety, observe the occupational safety and accident prevention regulations, observe all safety and warning signs on the EPS handling system, ... -
Page 13: Personal Protective Equipment (Ppe)
2.7 Changes and modifications No changes may be made to the EPS handling system which have not been described in these assembly instructions or approved in writing by Afag. Afag accepts no liability for unauthorised changes or improper assembly, installation, commissioning, maintenance or repair work. -
Page 14: General Hazards / Residual Risks
Safety instructions 2.8 General hazards / residual risks Despite the safe design of the EPS system and the technical protective measures taken, there still remain residual risks that cannot be avoided and which present a non-obvious residual risk when operating the EPS handling system. -
Page 15: Danger Due To Strong Magnetic Fields
Safety instructions 2.8.3 Danger due to strong magnetic fields DANGER Danger due to strong magnetic fields. Due to the strong magnetic fields, electronic devices such as pacemakers can be disturbed or their function impaired. Persons with a pacemaker must keep a safety distance of at least 50 cm. This must be ensured by means of a protective fence. -
Page 16: Technical Data
Technical data Technical data 3.1 EPS System mini YZ 3.1.1 Dimensioned drawing EPS mini YZ Fig. 1 Dimensioned drawing EPS mini YZ 16 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 17: Technical Data Eps Mini Yz
Technical data 3.1.2 Technical data EPS mini YZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 17–112 ... -
Page 18: Module Loads Eps Mini Yz
Technical data 3.1.3 Module loads EPS mini YZ 18 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 19: Eps System Midi Yz
Technical data 3.2 EPS System midi YZ 3.2.1 Dimensioned drawing EPS midi YZ Fig. 2 Dimensioned drawing EPS midi YZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 19–112 ... -
Page 20: Technical Data Eps Midi Yz
Technical data 3.2.2 Technical data EPS midi YZ 20 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 21: Module Loads Eps Midi Yz
Technical data 3.2.3 Module loads EPS midi YZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 21–112 ... -
Page 22: Eps System Maxi Yz
Technical data 3.3 EPS System maxi YZ 3.3.1 Dimensioned drawing EPS maxi YZ Fig. 3 Dimensioned drawing EPS maxi YZ 22 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 23: Technical Data Eps Maxi Yz
Technical data 3.3.2 Technical data EPS maxi YZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 23–112 ... -
Page 24: Module Loads Eps Maxi Yz
Technical data 3.3.3 Module loads EPS maxi YZ 24 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 25: Eps System Giga Yz
Technical data 3.4 EPS System giga YZ 3.4.1 Dimensioned drawing EPS giga YZ Fig. 4 Dimensioned drawing EPS giga YZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 25–112 ... -
Page 26: Technical Data Eps Giga Yz
Technical data 3.4.2 Technical data EPS giga YZ 26 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 27: Module Loads Eps Giga Yz
Technical data 3.4.3 Module loads EPS giga YZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 27–112 ... -
Page 28: Eps System Tera Yz
Technical data 3.5 EPS System tera YZ 3.5.1 Dimensioned drawing EPS tera YZ Fig. 5 Dimensioned drawing EPS tera YZ 28 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 29: Technical Data Eps Tera Yz
Technical data 3.5.2 Technical data EPS tera YZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 29–112 ... -
Page 30: Module Loads Eps Tera Yz
Technical data 3.5.3 Module loads EPS tera YZ 30 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 31: Eps System Mini Xz
Technical data 3.6 EPS System mini XZ 3.6.1 Dimensioned drawing EPS mini XZ Fig. 6 Dimensioned drawing EPS mini XZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 31–112 ... -
Page 32: Technical Data Eps Mini Xz
Technical data 3.6.2 Technical data EPS mini XZ 32 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 33: Module Loads Eps Mini Xz
Technical data 3.6.3 Module loads EPS mini XZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 33–112 ... -
Page 34: Eps System Midi Xz
Technical data 3.7 EPS System midi XZ 3.7.1 Dimensioned drawing EPS midi XZ Fig. 7 Dimensioned drawing EPS midi XZ 34 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 35: Technical Data Eps Midi Xz
Technical data 3.7.2 Technical data EPS midi XZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 35–112 ... -
Page 36: Module Loads Eps Midi Xz
Technical data 3.7.3 Module loads EPS midi XZ 36 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 37: Eps System Maxi Xz
Technical data 3.8 EPS System maxi XZ 3.8.1 Dimensioned drawing EPS maxi XZ Fig. 8 Dimensioned drawing EPS maxi XZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 37–112 ... -
Page 38: Technical Data Eps Maxi Xz
Technical data 3.8.2 Technical data EPS maxi XZ 38 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 39: Module Loads Eps Maxi Xz
Technical data 3.8.3 Module loads EPS maxi XZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 39–112 ... -
Page 40: Eps System Mini Xyz
Technical data 3.9 EPS System mini XYZ 3.9.1 Dimensioned drawing EPS mini XYZ Fig. 9 Dimensioned drawing EPS mini XYZ 40 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 41: Technical Data Eps Mini Xyz
Technical data 3.9.2 Technical data EPS mini XYZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 41–112 ... -
Page 42: Module Loads Eps Mini Xyz
Technical data 3.9.3 Module loads EPS mini XYZ 42 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 43: Eps System Midi Xyz
Technical data 3.10 EPS System midi XYZ 3.10.1 Dimensioned drawing EPS midi XYZ Fig. 10 Dimensioned drawing EPS midi XYZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 43–112 ... -
Page 44: Technical Data Eps Midi Xyz
Technical data 3.10.2 Technical data EPS midi XYZ 44 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 45: Module Loads Eps Midi Xyz
Technical data 3.10.3 Module loads EPS midi XYZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 45–112 ... -
Page 46: Eps System Maxi Xyz
Technical data 3.11 EPS System maxi XYZ 3.11.1 Dimensioned drawing EPS maxi XYZ Fig. 11 Dimensioned drawing EPS maxi XYZ 46 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 47: Technical Data Eps Maxi Xyz
Technical data 3.11.2 Technical data EPS maxi XYZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 47–112 ... -
Page 48: Module Loads Eps Maxi Xyz
Technical data 3.11.3 Module loads EPS maxi XYZ 48 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 49: Eps Mini Gantry Xxyz
Technical data 3.12 EPS mini gantry XXYZ 3.12.1 Dimensioned drawing EPS mini gantry XXYZ Fig. 12 Dimensioned drawing EPS mini gantry XXYZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 49–112 ... -
Page 50: Technical Data Eps Mini Gantry Xxyz
Technical data 3.12.2 Technical data EPS mini gantry XXYZ 50 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 51: Module Loads Eps Mini Gantry Xxyz
Technical data 3.12.3 Module loads EPS mini gantry XXYZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 51–112 ... -
Page 52: Eps Midi Gantry Xxyz
Technical data 3.13 EPS midi gantry XXYZ 3.13.1 Dimensioned drawing EPS midi gantry XXYZ Fig. 13 Dimensioned drawing EPS midi gantry XXYZ 52 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 53: Technical Data Eps Midi Gantry Xxyz
Technical data 3.13.2 Technical data EPS midi gantry XXYZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 53–112 ... -
Page 54: Module Loads Eps Midi Gantry Xxyz
Technical data 3.13.3 Module loads EPS midi gantry XXYZ 54 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 55: Eps Maxy Gantry Xxyz
Technical data 3.14 EPS maxy gantry XXYZ 3.14.1 Dimensioned drawing EPS maxi gantry XXYZ Fig. 14 Dimensioned drawing EPS maxi gantry XXYZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 55–112 ... -
Page 56: Technical Data Eps Maxi Xyz
Technical data 3.14.2 Technical data EPS maxi XYZ 56 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 57: Module Loads Eps Maxi Gantry Xxyz
Technical data 3.14.3 Module loads EPS maxi gantry XXYZ Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 57–112 ... -
Page 58: Eps Mini Gantry S
Technical data 3.15 EPS mini gantry s 3.15.1 Dimensioned drawing EPS mini gantry s Fig. 15 Dimensioned drawing EPS mini gantry s 58 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 59: Technical Data Eps Mini Gantry S
Technical data 3.15.2 Technical data EPS mini gantry s Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 59–112 ... -
Page 60: Module Loads Eps Mini Gantry S
Technical data 3.15.3 Module loads EPS mini gantry s 60 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 61: Eps Midi Gantry S
Technical data 3.16 EPS midi gantry s 3.16.1 Dimensioned drawing EPS midi gantry s Fig. 16 Dimensioned drawing EPS midi gantry s Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 61–112 ... -
Page 62: Technical Data Eps Midi Gantry S
Technical data 3.16.2 Technical data EPS midi gantry s 62 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 63: Module Loads Eps Midi Gantry S
Technical data 3.16.3 Module loads EPS midi gantry s Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 63–112 ... -
Page 64: Eps Maxi Gantry S
Technical data 3.17 EPS maxi gantry s 3.17.1 Dimensioned drawing EPS maxi gantry s Fig. 17 Dimensioned drawing EPS maxi gantry s 64 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 65: Technical Data Eps Maxi Gantry S
Technical data 3.17.2 Technical data EPS maxi gantry s Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 65–112 ... -
Page 66: Module Loads Eps Maxi Gantry S
Technical data 3.17.3 Module loads EPS maxi gantry s 66 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 67: Eps Mini Gantry H
Technical data 3.18 EPS mini gantry h 3.18.1 Dimensioned drawing EPS mini gantry h Fig. 18 Dimensioned drawing EPS mini gantry h Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 67–112 ... -
Page 68: Technical Data Eps Mini Gantry H
Technical data 3.18.2 Technical data EPS mini gantry h 68 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 69: Module Loads Eps Mini Gantry H
Technical data 3.18.3 Module loads EPS mini gantry h Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 69–112 ... -
Page 70: Eps Midi Gantry H
Technical data 3.19 EPS midi gantry h 3.19.1 Dimensioned drawing EPS midi gantry h Fig. 19 Dimensioned drawing EPS midi gantry h 70 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 71: Technical Data Eps Midi Gantry H
Technical data 3.19.2 Technical data EPS midi gantry h Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 71–112 ... -
Page 72: Module Loads Eps Midi Gantry H
Technical data 3.19.3 Module loads EPS midi gantry h 72 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 73: Eps Maxi Gantry H
Technical data 3.20 EPS maxi gantry h 3.20.1 Dimensioned drawing EPS maxi gantry h Fig. 20 Dimensioned drawing EPS maxi gantry h Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 73–112 ... -
Page 74: Technical Data Eps Maxi Gantry H
Technical data 3.20.2 Technical data EPS maxi gantry h 74 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ... -
Page 75: Module Loads Eps Maxi Gantry H
Technical data 3.20.3 Module loads EPS maxi gantry h Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 75–112 ... -
Page 76: Overview Of Power Supplies
Technical data 3.21 Overview of power supplies For detailed installation instructions, please refer to the respective installation instructions of the power supply unit used. Fig. 21 Power supplies Technical data SPH500-7207 SPH1013-7214 NT01-72/1500Multi Type primary switched power supply Primary voltage 90-132 VAC, 50/60 Hz or 3x340 –... -
Page 77: Transport, Packaging And Storage
The packaging materials used are mainly cardboard and paper or PE film. These are materials that can be recycled worldwide. If the packaging is returned to us carriage paid, Afag will take it back free of charge and dispose of it properly. -
Page 78: Storage
Transport, packaging and storage 4.4 Storage If the EPS systems are stored for an extended period of time, observe the following: Store the EPS system in the transport packaging. Do not store the servo gripper outdoors or expose it to weather conditions. ... -
Page 79: Installation, Assembly And Setting
Installation, assembly and setting Installation, assembly and setting The EPS systems are incomplete machines. For safe operation, the system must be integrated into the safety concept of the system in which it is installed. During normal operation, the user must not interfere with the working area of the EPS system. -
Page 80: Required Mounting Material
Installation, assembly and setting 5.2 Required mounting material Depending on the EPS system used, the adapters used and the weights present, different tools and materials must be used. The following table contains recommendations for the use of the appropriate mounting material in each case. Type Recommended mounting material SE20... -
Page 81: Weight Compensation
Installation, assembly and setting 5.3 Weight compensation With the EPS system, the weight is balanced via the MagSpring or pneumatically unit (GWA). Please also observe the installation instructions for the integrated modules! 5.3.1 Weight compensation with MagSpring The following applies to both installation positions when mounting the MagSpring: ... -
Page 82: Axis Controller C11Xx
Installation, assembly and setting 5.4.1 Axis controller C11xx Technical data C1150-EC-XC C1150-PN-XC C1150-GP-XC Logistics supply 24 VDC 24 VDC 24 VDC Motor power supply 24 - 72 VDC 24 - 72 VDC 24 - 72 VDC Max. motor output current (at 72 V) 25 A 25 A 25 A... -
Page 83: Axis Controller C12Xx
Installation, assembly and setting DANGER Danger when the safety door is open! There is a high risk of injury when the safety door is open! For the C11xx controller, the safety relay input (X33) must be deactivated the power supply unit (72 V) must be disconnected on the primary side! 5.4.2 Axis controller C12xx Technical data... -
Page 84: Fig. 24 Axis Controller C12Xx
Installation, assembly and setting Fig. 24 Axis controller C12xx Connection Description X1 PWR+ Motor power supply +72 VDC X1 PGND Motor power supply GND Motor phases Motor Signals Safety relay (optional for -S1 version) X4.8 /Quick stop X4.7 Reference sensor (optional) X4.2 Logic voltage supply +24 VDC X4.1... -
Page 85: Axis Controller E12Xx
Installation, assembly and setting 5.4.3 Axis controller E12xx Technical data E1230-DP-UC E1250-EC-UC E1250-PL-UC E1250-SE-UC Logistics supply 24 VDC 24 VDC 24 VDC 24 VDC Motor power supply 24 - 72 VDC 24 - 72 VDC 24 - 72 VDC 24 - 72 VDC Max. -
Page 86: Fig. 25 Axis Controller E12Xx
Installation, assembly and setting Fig. 25 Axis controller E12xx Connection Description X1 PWR+ Motor power supply +72 VDC X1 PGND Motor power supply GND Motor phases Motor Signals X4.12 Safety voltage enable X4.11 /Quick stop X4.7 Reference sensor (optional) X4.2 Logic voltage supply +24 VDC X4.1 Logic voltage supply GND... -
Page 87: Pin Assignment And Electrical Connection Data Of The Motors
Installation, assembly and setting 5.5 Pin assignment and electrical connection data of the motors Connector combinations Connector on the controller Connector on the axle R connector: D connector: Insert Insert Electric slide ES20 Portal axis PEL20 Rotary axis SE20 C connector: W connector: Insert Electric slide ES30... -
Page 88: Connector Assignment Encoder On The Controller
Installation, assembly and setting 5.6 Connector assignment encoder on the controller Controller C1xxx and E12xx series Function Colour pink A- / sin- yellow B- / cos- grey Z- / data - white red/blue+violet Free Free Clock- Green A+ / sin+ Black B+ / cos+ Z+ /Data+... -
Page 89: Connector Strip
Installation, assembly and setting 5.7 Connector strip Connector strip STL-4 for 4 sensors 4xM8, 3-pin, 1xM12 12-pin (16520814) Connector strip STL-6 for 6 sensors 6xM8, 3-pin, 1xM12 12-pin (16520815) Connector strip STL-8 for 8 sensors 8xM8, 3-pin, 1xM12 12-pin (16520685) ... -
Page 90: Commissioning
Commissioning Commissioning In addition, observe the instructions in the operating manuals of the respective individual modules! 6.1 Safety instructions for commissioning DANGER Danger! Risk of electric shock! If work on electrical components is required, ensure that the work is carried out properly, failure to do so will cause serious or fatal injuries. -
Page 91: Preparatory Activities For Commissioning
Commissioning 6.2 Preparatory activities for commissioning Before commissioning, all parameters must be precisely adjusted to the respective application or intended use. To do this, make the settings on the individual modules as described at chapter 6.4 "Settings". To prepare for commissioning proceed as follows: ... -
Page 92: Settings
These programmes are stored on the CD supplied or can be downloaded from https://www.afag.com/de/service/support-tools/linmot.html . NOTICE Risk of damage to property! Excessive speed or acceleration can cause damage to the unit or peripherals. - Page 93 Commissioning Table overview of the electric axes The following tables should serve as a reference for the parameters (speed, acceleration and deceleration). Please note that the standard parameters depend strongly on the load mass and the mechanical structure and must therefore be adapted to your application! Max.
- Page 94 Commissioning Max. Max. Max. Std. Std. Std. Max. Min. Type speed accel. delay speed accel. delay pos. pos. [m/s] [m/s [m/s [m/s] [m/s [m/s [mm] [mm] ES40-100-HP-SL ES40-100-HP ES40-200-HP ES40-300-HP ES40-400-HP ES40-500-HP PEL20-080-SL PEL20-140-SL PEL20-210-SL PEL20-270-SL PEL20-370-SL PEL20-550-SL PEL20-640-SL PEL20-060 PEL20-130 PEL20-190 PEL20-290...
- Page 95 Commissioning Max. Max. Max. Std. Std. Std. Max. Min. Type speed accel. delay speed accel. delay pos. pos. [m/s] [m/s [m/s [m/s] [m/s [m/s [mm] [mm] PDL40-170-D27 PDL40-230-D27 PDL40-320-D27 PDL40-440-D27 PDL40-530-D27 PDL40-70-D28 PDL40-160-D28 PDL40-280-D28 PDL40-370-D28 PDL40-460-D28 PDL40-580-D28 PDL40-670-D28 PDL40-880-D28 PDL40-1060-D28 1060 PDL40-1270-D28 1270...
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Page 96: Teaching The Positions On Electric Axes
Teaching in jog mode is completed. 3 Set up with reduced speed Please observe the associated instructions for safely reduced speed (www.afag.com)! 96 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0... -
Page 97: Adjusting Damping And Speeds On Pneumatic Modules
Commissioning 6.4.3 Adjusting damping and speeds on pneumatic modules NOTICE Risk of damage to property! Incorrectly set end-position damping can cause damage to the device or the periphery. Observe the notes and permissible values. Setting the speeds on the pneumatic modules Notes on the setting: 1. - Page 98 Commissioning B) Setting the reference point Setting the reference point is necessary to prevent an index from being detected too early or too late when referencing the axis. This would result in a position shift according to the pole division of the band. To set the reference point, the distance between the mechanical stop and the index on the magnetic tape must be set to the distance according to the following table:...
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Page 99: Fault Elimination
Fault elimination Fault elimination 7.1 Safety instructions for troubleshooting DANGER Danger! Risk of electric shock! If work on electrical components is required, ensure that the work is carried out properly, failure to do so will cause serious or fatal injuries. ... -
Page 100: Maintenance And Repair
Maintenance and repair Maintenance and repair 8.1 General notes The EPS system is almost maintenance-free. Nevertheless, some maintenance work must be carried out to ensure an optimum operating condition of the EPS. EPS systems are high-performance devices with very short cycle times. The service life of the units depends mainly on the ambient conditions and maintenance. -
Page 101: Maintenance Activities And Maintenance Intervals
Observe the specified maintenance and care intervals. The intervals refer to a normal operating environment. If the system is to be operated in an environment with abrasive dusts or corrosive or aggressive vapours, gases or liquids, the approval of Afag must be obtained in advance. 8.3.1 Overview of the maintenance points Fig. -
Page 102: Spare Parts
This section lists the spare parts of the standard components. For special assemblies, the order numbers on our delivery note apply. 8.4.1 Motor cable - Designation - Axes - Controller - Application Servo Designation Module/axis Application control. Manufacturer' Afag s designation designation Motor cable- <-> K05-D/R-8 M21-8m-0-0-X Motor cable- KS05-D/R-8 <->... -
Page 103: Motor Cable
Maintenance and repair 8.4.2 Motor cable Designation Article no. Motor cable-M16-4m-0-1-X 50463073 Motor cable-M16-6m-0-1-X 50463076 Motor cable-M16-8m-0-1-X 50463078 Motor cable-M16-4m-0-1-1 50437168 Motor cable-M16-6m-0-1-1 50437167 Motor cable-M16-8m-0-1-1 50427023 Extension-M16-2m-0-0-1 50450944 Extension-M16-4m-0-0-1 50427026 Extension-M16-6m-0-0-1 50463082 Extension-M16-2m-0-0-2 50463081 Motor cable-M17-4m-0-1-1 50437170 Motor cable-M17-6m-0-1-1 50437169 Motor cable-M17-8m-0-1-1 50427021... -
Page 104: Servo Controller
Maintenance and repair 8.4.3 Servo controller Designation Article no. Controller E1250-EC for EtherCAT 16080243 Controller E1250-PL for PowerLink 50465787 Controller C1250-SE-XC-1S For Sercos over EtherCAT 16080409 Controller C1250-SC-XC-1S for Sercos III 16080417 Controller C1250-PN-XC-1S for Profinet 16080415 Controller C1250-PL-XC-1S for PowerLink 16080413 Controller C1250-PD-XC-1S for Profidrivet... -
Page 105: Magspring
Maintenance and repair 8.4.5 MagSpring Designation Article no. Force 11N/40N for 50 mm MagSpring rotor ML01-12x130/80-10 50430383 stroke Force 17N/50N for 50 mm MagSpring rotor ML01-12x130/80-15 50430384 stroke Force 22N/60N for 50 mm MagSpring rotor ML01-12x130/80-20 50430385 stroke Force 11N/40N for 100 mm MagSpring rotor ML01-12x210/160-10 50430386 stroke... -
Page 106: Decommissioning And Disposal
Decommissioning and disposal Decommissioning and disposal The EPS must be properly dismounted after use and disposed of in an environmentally friendly manner. 9.1 Safety instructions for decommissioning and disposal WARNING Risk of injury due to improper decommissioning and disposal! Improperly carried out activities can result in considerable material damage and serious injury. -
Page 107: Declaration Of Incorporation
EPS systems Type: EPS mini YZ, EPS midi YZ, EPS maxi YZ, EPS giga YZ, EPS tera YZ, EPS mini XZ, EPS midi XZ, EPS maxi XZ, EPS mini XYZ, EPS midi XYZ, EPS maxi XYZ, EPS mini gantry XXYZ, EPS midi gantry XXYZ,... - Page 108 Index Index Operator ............12 Axes and channels .......... 100 Packaging ............77 Personal protective equipment (PPE) ....13 Decommissioning ..........106 Personnel qualifications ........12 Disposal ............106 Personnel requirements ........12 Protective clothing ..........13 Explanation of symbols ........7 Protective gloves ..........
- Page 109 List of figures List of figures Fig. 1 Dimensioned drawing EPS mini YZ ....................16 Fig. 2 Dimensioned drawing EPS midi YZ ....................19 Fig. 3 Dimensioned drawing EPS maxi YZ ....................22 Fig. 4 Dimensioned drawing EPS giga YZ ....................25 Fig.
- Page 110 List of figures 110 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ...
- Page 111 Assembly instructions EPS Handling systems Date 08.09.2021 Version 2.0 111–112 ...
- Page 112 List of figures 112 – 112 Assembly instructions EN EPS Handling systems Date 08.09.2021 Version 2.0 ...
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