Related Manuals for SCHUNK VERO-S NSR mini 100
Summary of Contents for SCHUNK VERO-S NSR mini 100
- Page 1 Translation of Original Operating Manual VERO-S Robot Coupling for Pallet Handling NSR mini 100 / PKL mini 100 Assembly and Operating Manual...
- 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: 0489056 Version: 09.00 | 16/02/2022 | en...
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Page 3: Table Of Contents
Table of Contents Table of Contents General........................ 5 Presentation of Warning Labels ................ 5 Applicable documents .................. 5 Basic safety notes .................... 6 Intended use...................... 6 Not intended use .................... 6 Notes on particular risks.................. 6 Notes on safe operation .................. 8 2.4.1 Holding force and screw strength............. 9 2.4.2 Constructional changes ................ 9 Personnel qualification.................. - Page 4 Table of Contents 11 Sensors ........................ 36 12 Declaration of incorporation................... 40 13 Appendix on Declaration of Incorporation .............. 41 09.00 | NSR mini 100 / PKL mini 100 | Assembly and Operating Manual | en | 0489056...
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Page 5: General
• Catalog data sheet of the purchased product * The documents marked with an asterisk (*) can be downloaded on our homepage schunk.com 09.00 | NSR mini 100 / PKL mini 100 | Assembly and Operating Manual | en |... -
Page 6: Basic Safety Notes
• It is used as load handling or lifting equipment. • It is used for turning applications without consulting SCHUNK. • It is used in working environments that are not permissible. • People work on machines or technical equipment that do not comply with the EC Machinery Directive 2006/42/EC, disregarding the applicable safety regulations. - Page 7 Basic safety notes • Do not reach into the open mechanism or the movement area of the system. • Only specialist personnel may perform assembly, modification and disassembly work. WARNING Risk of injury due to falling device, pallet or workpiece if the clamping pin is loosened erroneously or as a result of negligence.
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Page 8: Notes On Safe Operation
Basic safety notes CAUTION Risk of injury due to compressed air hoses coming loose when connected improperly. Use check valves or safety switches. • The danger zone must be surrounded by a protective • enclosure during operation. CAUTION Risk of slipping or falling if the operational environment is not clean (e.g. -
Page 9: Holding Force And Screw Strength
This is why only screws of strength class 12.9 may be used. Only original SCHUNK clamping pins may be used. If the clamping pin is to be used in customer-specific devices, the customer must provide a sufficiently dimensioned pallet coupling or a sufficiently thick mounting material. -
Page 10: Personnel Qualification
Only allow specialists to remedy malfunctions. Spare parts Only use original SCHUNK spare parts. Environmental regulations The applicable environmental regulations must be observed for all maintenance and repair work. -
Page 11: Warranty
Warranty 3 Warranty If the product is used as intended, the warranty is valid for 24 months from the ex-works delivery date under the following conditions: } 1.2 [/ 5] • Observe the applicable documents, • Observe the ambient conditions and operating conditions •... -
Page 12: Scope Of Delivery
Scope of Delivery 4 Scope of Delivery • Robot Coupling for Pallet Handling NSR mini 100 • Assembly and Operating Manual • Accessory pack 2 fitting screws 8f7 / M6 3 mounting screws M6 x 25 2 O-rings Ø 3 x 1.5 4.1 Accessories •... -
Page 13: Technical Data
Technical Data 5 Technical Data Designation / Type NSR mini 100 ID no. 0471960 Max. torque Mx * 75 Nm Max. torque Mz * 200 Nm Max. transport weight 75 kg Pull-in force without turbo 1.0 kN Pull-in force with turbo 4.0 kN Pull-in stroke 0.3 mm... -
Page 14: Calculation Of Permissible Transport Load
Technical Data 5.1 Calculation of Permissible Transport Load The robot coupling is limited to a maximum permissible torque at the coupling interface. The dynamic load when using the robot system for handling results in acceleration and deceleration forces that have to be included in the transport load. To operate the robot coupling for dynamic handling, it is essential for the maximum acceleration to be known. - Page 15 Technical Data Maximum permissible torque for NSR mini 100: M = 75 Nm Result of calculation: Taking into account the robot acceleration, the loading weight obtained in the calculation example is permissible. A higher loading weight requires a shortening of the effective lever length from the coupling interface to the center of gravity of the load, or a reduction in the robot acceleration.
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Page 16: Assembly
Assembly 6 Assembly Pre-assembly measures Carefully lift the product out of the packaging (e.g. with suitable lifting equipment). CAUTION Risk of injury due to sharp edges and rough or slippery surfaces. Wear personal protective equipment, particularly protective • gloves. Check that the delivery is complete and that there is no transport damage. -
Page 17: General Assembly Notes
Assembly Screw size Screw tightening torques (Nm) Screw tightening torques for mounting the robot coupling on the robot flange. Screw tightening torques for mounting the quick- change clamping pin on the pallet coupling and for the tension screws for the clamping pallet. (Screw quality 12.9) Screw size Screw tightening torques M... - Page 18 Assembly Two mounting screws are used as fitting screws for positioning the robot coupling precisely on the necessary robot flange. Precise alignment and positioning of the quick-change pallet system requires that the fitting bores Ø 8 H7 on the opposite side are precisely positioned in the mounting position.
- Page 19 Assembly There is an alternative connection option via two M3 connections in the bottom for unlocking and turbo. In this case, the side connections must be sealed off with the two M5 locking screws (already fitted when delivered). If this connection version is chosen, the direct connections in the bottom without a hose must each be sealed with an O-ring.
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Page 20: Unlocking Connection
Assembly Unlocking connection on base side Hose-free direct connection Turbo connection on base side Air purge connection with cleaning function (M5) Air outlets for Unlocking connection cleaning function (M5) M5 thread Turbo connection (M5) Air outlets for cleaning function Locating surfaces for pallet coupling Fitting screws for positional orientation Mounting and connections... -
Page 21: Turbo Connection
Assembly There is the option of controlling the clamping system either via the side M5 air connection hole or a hose-free direct connection in the bottom. The air connection that is not connected must be sealed air-tight with a M5 locking screw or a M3 set-screw (in the bottom) (see chapter "Assembly drawing"... -
Page 22: Pneumatic Circuit Diagram
Assembly • The air purge must be switched off again before the pallet coupling is locked fully in the robot module, as otherwise an air cushion can form. 6.3.4 Pneumatic Circuit Diagram Pneumatic circuit symbols Actuation using 6 bar (also on base side via hose-free direct connections) 5/3 directional control valve, center position... -
Page 23: Coupling Interface
Pallet coupling PKL mini 100 Torque pin version I and version II Only an original SCHUNK clamping pin may be mounted on the coupling interface with the designated mounting screw. (The screw must be tightened with the specified torque } 6.1 [/ 16]). -
Page 24: Pkl Mini 100 Pallet Coupling
The pallet coupling must always guarantee a completely flat work surface at the robot coupling contact points. Design changes to the pallet coupling by the operator are only permissible with the approval of SCHUNK. 6.4.1 PKL mini 100 Pallet Coupling PKL mini 100 pallet coupling The PKL mini 100 pallet coupling (ID no. - Page 25 * The height of the clamping pallet must be at least 15 mm. NOTES Only an original SCHUNK clamping pin with the designated mounting screw may be mounted at the M8 mounting thread on the pallet coupling. Replacements are available for delivery from SCHUNK.
- Page 26 M8 screw, strength class 12.9. The specified screw torque must be observed } 6.1 [/ 16]. Only original SCHUNK clamping pins may be used. • If the clamping pin is to be used in customer-specific devices, • the customer must provide a sufficiently dimensioned depth of engagement in the clamping pin or a sufficiently thick mounting material in the adapter strip for the pallet coupling.
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Page 27: Tolerances And Installation Conditions For Spa Mini 20 Clamping Pins In
Assembly Tolerances and Installation Conditions for SPA mini 20 Clamping Pins Tolerances and installation conditions for installation in a customer-specific pallet coupling ID no. SPA mini 20 0435610 > 8 > 13 > 9 6.6 Application Example for Automated Pallet Loading The NSR mini 100 clamping system has been designed for automated pallet loading using robots for small to moderate loads. -
Page 28: Connection And Disconnection Of Transport Loads
Assembly Application example for automated pallet loading 6.6.1 Connection and Disconnection of Transport Loads The following must be taken into account during automated connection and disconnection of transport loads: • Approach the coupling interfaces between the robot module and robot coupling or clamping pallet and module for stationary use / application early without a tilt angle and eccentricity. - Page 29 Assembly Automated connection and disconnection of transport loads 09.00 | NSR mini 100 / PKL mini 100 | Assembly and Operating Manual | en | 0489056...
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Page 30: Maintenance And Care
Risk of injury and risk of damage to the robot coupling when opening the housing cover. If the robot coupling has to be disassembled, send the module to SCHUNK for repair. The cover of the robot coupling is spring preloaded and must only be removed by trained specialist personnel. - Page 31 Maintenance and Care compressed air loss. Test the robot coupling for leaks in both module positions. To establish the tightness of the entire clamping system, no pallet coupling should be connected. If there are leaks in the clamping system, test the entire pneumatic system (e.g.
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Page 32: Troubleshooting
Defective air connections Check air supply Pressure below minimum Check operating pressure (min. 5 bar) A component is broken (e.g. due to Replace the module or send it to SCHUNK for overloading) repair Excess tensile load on clamping pins Reduce support weight... -
Page 33: Seal Kit And Part Lists
Seal kit and part lists 9 Seal kit and part lists 9.1 Sealing Kit List NSR mini 100 (ID No. 0471962) Item Designation Quantity O-ring Ø 3 x 1.5 O-ring Ø 4.5 x 1 O-ring Ø 11 x 1 O-ring Ø 3 x 1.5 O-ring Ø... - Page 34 Seal kit and part lists Set-screw M2.5 x 3 Round magnet Body with inlays PKL mini 100 (ID No. 0471970) Item Designation Quantity Adapter NSR mini 100 Clamping pin SPA mini 20 Screw DIN EN ISO 4762 M8 x 20 12.9 Screw DIN EN ISO 4762 M6 x 60 12.9 Countersunk screw DIN EN ISO 10642 M6 x 16 Cover plug...
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Page 35: Assembly Drawing
Assembly drawing 10 Assembly drawing 09.00 | NSR mini 100 / PKL mini 100 | Assembly and Operating Manual | en | 0489056... - Page 36 The NSR mini 100 robot coupling is prepared for the use of MMS 22-SA magnetic switches and the IN 50 inductive proximity switch. • Information on handling sensors is available at schunk.com or from SCHUNK contact persons. • Technical data for the sensors can be found in the data sheets (included in the scope of delivery or available at schunk.com).
- Page 37 Sensors Voltage: 10 – 30 V DC; reverse polarity protection Max. current on contact: 200 mA Switching hysteresis: 0.8 mT Temperature range: – 10°C to + 70°C Switching frequency approx.: 1000 Hz Voltage drop (max. load): 1.5 V Protection class in accordance with DIN IP 67* 60529: * for the cylindrical connector only when screwed on...
- Page 38 Sensors Assembly and Setup of the IN 50 Technical data: Voltage: 10 – 30 V DC Ripple: ≤ 15% Max. current on contact: 200 mA, short-circuit-proof Switching hysteresis: ≤ 15% of the nominal switching distance Temperature range: – 25°C to + 70°C Switching frequency approx.: 1000 Hz Voltage drop (max.
- Page 39 Sensors Inductive proximity switch IN 50 Max. 10 Ncm Grooves for holding and clamping the magnetic switches MMS 22 Inductive proximity switch IN 50 Set screw for clamping Magnetic switch 1 Magnetic switch 2 Mounting thread for monitoring pallet presence Mounting of the inductive proximity switch 09.00 | NSR mini 100 / PKL mini 100 | Assembly and Operating Manual | en | 0489056...
- Page 40 12 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/ H.-D. SCHUNK GmbH & Co. Spanntechnik KG Distributor Lothringer Str. 23 D-88512 Mengen We hereby declare that on the date of the declaration the following incomplete machine complied with all basic safety and health regulations found in the directive 2006/42/EC of the European Parliament and of the Council on machinery.
- Page 41 Appendix on Declaration of Incorporation 13 Appendix on 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 VERO-S NSR Roboterkupplung für Palettenhandling Type designation NSR mini 100;...
- Page 42 Appendix on Declaration of Incorporation Protection against mechanical hazards 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 1.3.9 Risks of uncontrolled movements Required characteristics of guards and protective devices...
- Page 43 Appendix on 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 Sales literature The classification from Annex 1 is to be supplemented from here...
- Page 44 Translation of Original Operating Manual H.-D. SCHUNK GmbH & Co. Spanntechnik KG Lothringer Str. 23 D-88512 Mengen Tel. +49–7572-7614-0 Fax +49-7572-7614-1099 info@de.schunk.com schunk.com Folgen Sie uns I Follow us...
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