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Summary of Contents for SCHUNK EZN Series
- Page 1 Translation of Original Operating Manual Assembly and Operating Manual 3-finger centric gripper...
- 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
Technical data...................... 19 Basic data ...................... 19 Technical data for the integrated resolver ............ 21 Technical data for the integrated motor ............ 22 SCHUNK power and sensor cable ............... 23 Design and description.................... 24 Design ......................... 24 Description ...................... 25 Functional principle .................... 25... - Page 4 Table of Contents Assembly ........................ 26 Assembling and connecting................ 26 Connections...................... 28 5.2.1 Mechanical connection................ 28 5.2.2 Electrical connection to the ECM controller........... 30 Connecting ground cable.................. 36 Air purge connection for dust-tight (SD) variant .......... 37 Start-up and system integration via ECM controller .......... 38 Troubleshooting ..................... 39 Behavior in case of product malfunctions ............
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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: Applicable Documents
• General terms of business * • Catalog data sheet of the purchased product * • Assembly and operating manuals of the accessories * • "SCHUNK Drive Protocol (SDP)" software manual * • "SCHUNK Motion Protocol (SMP)" software manual * • Wiring diagram * The documents marked with an asterisk (*) can be downloaded on our homepage schunk.com... -
Page 7: Accessories
• Controller ECM • Power and sensor cables for variant EZN-S Contents of the DVD enclosed with the ECM controller: • "Motion Tool Schunk (MTS)" configuration and commissioning tool • EEPROM files for the ECM controller • Assembly and Operating Manual •... -
Page 8: 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. 11.00 | EZN | Assembly and Operating Manual | en | 389068... -
Page 9: Gripper Fingers
Basic safety notes 2.5 Gripper fingers Requirements for the gripper fingers Stored energy within the product creates the risk of serious injuries and significant property damage. • Arrange the gripper fingers in a way that the product reaches either the position "open" or "closed" in a de-energized state. •... -
Page 10: 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 11: Notes On Safe Operation
Basic safety notes 2.9 Notes on safe operation Incorrect handling of the personnel Incorrect handling and assembly may impair the product's safety and cause serious injuries and considerable material damage. • Avoid any manner of working that may interfere with the function and operational safety of the product. -
Page 12: Malfunctions
Basic safety notes 2.11 Malfunctions Behavior in case of malfunctions • Immediately remove the product from operation and report the malfunction to the responsible departments/persons. • Order appropriately trained personnel to rectify the malfunction. • Do not recommission the product until the malfunction has been rectified. -
Page 13: Protection During Handling And Assembly
Basic safety notes 2.13.1 Protection during handling and assembly Incorrect handling and assembly Incorrect handling and assembly may impair the product's safety and cause serious injuries and considerable material damage. • Have all work carried out by appropriately qualified personnel. •... -
Page 14: 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 15: 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 16: 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 17: Notes On Particular Risks
Basic safety notes 2.14 Notes on particular risks DANGER Danger from electric voltage! Touching live parts may result in death. Switch off the power supply before any assembly, adjustment • or maintenance work and secure against being switched on again. Only qualified electricians may perform electrical installations. - Page 18 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 19: Technical Data
Technical data 3 Technical data 3.1 Basic data Designation Mechanical operating data Weight [kg] 0.98 2.30 Noise emission [dB(A)] ≤ 70 IP rating Ambient temperature [°C] Min. Max. Stroke per jaw [mm] Min. adjustable gripping force [N] Max. gripping force [N] Max. -
Page 20: Weight [Kg]
Technical data Designation Mechanical operating data for dust-tight (SD) variant Weight [kg] 1.08 2.48 IP rating Pressure range for air purge [bar] 0.2 – 0.5 Warranty duration [months] or maximum cycles [piece] 10,000,000 10,000,000 More technical data is included in the catalog data sheet. Whichever is the latest version. -
Page 21: Technical Data For The Integrated Resolver
Technical data 3.2 Technical data for the integrated resolver Red / White (S1) (R1) Yellow / White Black (R2) (S3) Blue Yellow (S4) (S2) Dimension of resolver and schematic diagram • Dimensions (mm) • Dimensions without tolerances ± 0.4 mm •... -
Page 22: Technical Data For The Integrated Motor
Technical data 3.3 Technical data for the integrated motor Designation Constant Indication of value Clamping voltage [V] Rated torque [Nm] 0.41 Nominal power current [A] Basic data Peak current [A] Basic data Torque constant [Nm/A] 0.069 Rated speed [rpm] 1700 Max. -
Page 23: Schunk Power And Sensor Cable
Technical data 3.4 SCHUNK power and sensor cable Cable type Power Transducer Number of wires/cross-section 4 x 0.75 mm² 8 x 0.25 mm² 2 x 0.25 mm² Max. voltage [V] Shielded Shield around individual wire strands Twisted Temperature application range [°C] +5 to +55 +5 to +55 Max. -
Page 24: Design And Description
Design and description 4 Design and description 4.1 Design 3-finger centric gripper with hybrid cable Ground connection EMC fitting, Housing Connection cable 3-finger centric gripper with Y-plug Ground connection Y-plug Housing Sensor cable plug (M12-A, 8-pin) EMC fitting, Power cable plug (M17, 7-pin) 11.00 | EZN | Assembly and Operating Manual | en | 389068... -
Page 25: Description
The product is controlled by an external controller. Optimal application utilization is achieved with the SCHUNK ECM controller. 4.3 Functional principle All possible parameters are described in the document relating to the SCHUNK Drive Protocol, see Drive Protocol document. -
Page 26: Assembly
Assembly 5 Assembly 5.1 Assembling and connecting DANGER Risk of fatal injury due to electric current! Touching live parts possess an immediate risk of fatal injury by electrocution. Prior to commencing work, restore the regulator to a de- • energized state. Disconnect the logic and motor voltages. -
Page 27: Mechanical Connection
Assembly Both variants Logic and motor voltage are disconnected from the controller. ■ The intermediate circuit voltage has dropped to a residual ■ voltage of less than 10 V. Check the flatness of the mounting surface, Ø Mechanical connection 28]. Screw the product to the machine/system, Ø... - Page 28 Assembly 5.2 Connections 5.2.1 Mechanical connection The values apply to the whole mounting surface to which the Evenness of the product is mounted. mounting surface Requirements for evenness of the mounting surface (Dimensions in mm) Edge length Permissible unevenness < 100 <...
- Page 29 Assembly Depth of engagement and tightening torque Item Designation Centering sleeve Ø 4 Ø 5 Thread in base jaw Max. depth of engagement [mm] Mounting screws as per DIN EN ISO 4762 standard Assembly options, example EZN-S Item Designation Bore hole for mounting screws Mounting screws as per standard DIN EN ISO 4762 11.00 | EZN | Assembly and Operating Manual | en | 389068...
- Page 30 Assembly 5.2.2 Electrical connection to the ECM controller DANGER Danger from electric voltage! Touching live parts can result in death. Switch off energy supply before carrying out all assembly, • adjustment and maintenance work and secure against re- connection. Only allow qualified electricians to work on electrical •...
- Page 31 (shield connection via cable clamp below the motor terminal strip) Black Motor phases White (*) Wire color of the supplied SCHUNK cable, otherwise according to customer specifications Pin allocation terminal strip resolver at drive regulator ECM Phoenix Wire color (*) Resolver signals...
- Page 32 White Inner shield and on housing unassigned Grey Osz+ Pink (*) Wire color of the supplied SCHUNK cable, otherwise according to customer specifications Connection plug M17 Pin allocation connection plug M17 on stranded wires Connection plug M17 Wire color (*)
- Page 33 Assembly 5.2.2.2 Wiring diagram Wiring diagram 11.00 | EZN | Assembly and Operating Manual | en | 389068...
- Page 34 Assembly 5.2.2.3 External protection CAUTION Risk of damage to the controller! If the power circuit of the controller is too high or not protected, the controller may be damaged. Protect the power circuit of the ECM controller with maximum • 6 A.
- Page 35 Assembly Protection via current limiting of the supplying power supply unit The power supply unit must comply with the technical data given in the following table. The following power supply unit manufactured by PULS is recommended: Manufacturer's code DIMENSION QS5.241 Type Clocked Connections...
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Page 36: Connecting Ground Cable
Assembly 5.3 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 37: Air Purge Connection For Dust-Tight (Sd) Variant
Assembly 5.4 Air purge connection for dust-tight (SD) variant Air purge connection Item Mounting Thread in air purge connection Maximum depth of engagement [mm] (from locating surface) CAUTION Property damage due to incorrect assembly! If the dust-tight (SD) variant is operated without air purge, neither the function nor permanent tightness can be guaranteed. -
Page 38: Start-Up And System Integration Via Ecm Controller
Start-up and system integration via ECM controller 6 Start-up and system integration via ECM controller NOTE See Assembly and Operating Manual "ECM Controller" for instructions on start-up and system integration of the product via the ECM controller. 11.00 | EZN | Assembly and Operating Manual | en | 389068... -
Page 39: Troubleshooting
The product can only be repaired at the factory! Send the product to SCHUNK with a repair order. Motor connected incorrectly. Check connections on the motor. 7.1.2 Gripping force gets weaker... -
Page 40: Behavior In Event Of Malfunctions On The Ecm Controller
Troubleshooting 7.2 Behavior in event of malfunctions on the ECM controller Identified errors are shown as hexadecimal code on the seven- segment display of the controller. Information about the error codes are included in the software manual, see the "Controller ECM" Assembly and Operating Manual. -
Page 41: Maintenance
Grease/greasing areas 41]. 8.2 Grease/greasing areas Lubricate the product at every maintenance interval so that every greasing area is optimally lubricated with grease. SCHUNK recommends the lubricants listed. Lubricant point Lubricant Metallic sliding surfaces Grease KP2-K OR: lubricant CLP32-100... -
Page 42: Maintaining Gripper Without Disassembling
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. • 11.00 | EZN | Assembly and Operating Manual | en | 389068... -
Page 43: Disassembling And Assembling Dust-Proof Variant
(2) recess and intermediate cover (3). Select the appropriate O-ring from the "Size of the O-rings" table. O-rings are contained in the accessory pack or available from SCHUNK. Remove the intermediate jaw (2) again and press the O-ring (4) Ø... - Page 44 1.05 Ø 25 x 1.0 0.65 Testing the function of the gripper Test function of the gripper with the "Motion Tool SCHUNK (MTS)" Ø configuration and commissioning tool, see enclosed DVD. Carry out speed movement with parameters according to the ✓...
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Page 45: Translation Of Original Declaration Of Incorporation
9 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 46: Annex To Declaration Of Incorporation
Annex to Declaration of Incorporation 10 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 3-finger centric gripper Type designation ID number... - Page 47 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 48 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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