SCHUNK EGL Assembly And Operating Manual
2-finger parallel gripper
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Summary of Contents for SCHUNK EGL
- Page 1 Assembly and Operating Manual EGL 2-finger parallel gripper Firmware 3.x Translation of Original Operating Manual...
- Page 2 Imprint Imprint Copyright: This manual is protected by copyright. The author is SCHUNK SE & Co. KG. All rights reserved. Technical changes: We reserve the right to make alterations for the purpose of technical improvement. Document number: 1012097 Version: 10.00-FW3.x | 07/12/2023 | en...
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Page 3: Table Of Contents
2.13 Notes on particular risks ............... 21 3 Technical data ..................23 3.1 Name plate ..................23 3.2 Basic data ..................24 3.3 Ambient conditions and operating conditions ........... 25 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... - Page 4 6.1.1 SCHUNK Drive Protocol (SDP) ............48 6.1.2 SCHUNK Motion protocol (SMP)............48 6.1.3 Notes on the compatibility of Motion Tool Schunk (MTS) and firmware ... 48 6.2 Commissioning the product ..............49 6.3 PROFINET ................... 50 6.3.1 Types of communication of PROFINET ..........50 6.3.2 Operating behavior of the product ..........
- Page 5 12 UKCA declaration of Conformity ..............73 13 UKCA declaration of incorporation ............74 14 Information on the RoHS Directive, REACH Regulation and Substances of Very High Concern (SVHC) ..................75 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
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Page 6: 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. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 7: Symbol Definition
1.1.5 Sizes This operating manual applies to the following sizes: EGL 90 1.1.6 Variants This operating manual applies to the following variations: EGL PROFINET EGL PROFIBUS EGL CAN bus 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 8: Warranty
"SCHUNK Motion Tool (MTS)" software manual "SCHUNK Motion Protocol (SMP)" software manual "SCHUNK Drive Protocol (SDP)" software manual Firmware updater Assembly and Operating Manual USB driver Parameter data set 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 9: Accessories
A wide range of accessories are available for this product For information regarding which accessory articles can be used with the corresponding product variants, see catalog data sheet. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 10: Basic Safety Notes
Modifications, changes or reworking, e.g. additional threads, holes, or safety devices, can damage the product or impair its functionality or safety. Structural changes should only be made with the written approval of SCHUNK. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 11: Spare Parts
Make sure that the product is used only in the context of its defined application parameters, } 3 [/ 23]. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 12: Electromagnetic Compatibility
Vibration-damping or vibration-absorbing systems are to be used in such cases. The product must also not be used in potentially explosive zones. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 13: Insulation Resistance And Voltage Resistance In Accordance With En 60204-1
Due to their technical training, knowledge and experience, trained electricians are able to work on electrical systems, recognize and avoid possible dangers and know the relevant standards and regulations. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 14: Personal Protective Equipment
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. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 15: Notes On Safe Operation
When handling heavy weights, use lifting equipment to lift the product and transport it by appropriate means. Secure the product against falling during transportation and handling. Stand clear of suspended loads. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 16: Malfunctions
If the energy supply is connected, do not move any parts by hand. Do not reach into the open mechanism or movement area of the product during operation. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 17: Protection During Handling And Assembly
Falling and violently ejected components can cause serious injuries and even death. Take appropriate protective measures to secure the danger zone. Never step into the danger zone during operation. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 18: Protection Against Dangerous Movements
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. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 19: Protection Against Electric Shock
The effectiveness of the potential equalisation must be verified by executing regular safety measurements. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 20: Protection Against Magnetic And Electromagnetic Fields
A special additional EMC test may be necessary if the system has a high risk potential. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 21: Notes On Particular Risks
Before starting any work on the product: Switch off the power supply and secure against restarting. Make sure, that no residual energy remains in the system. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... - Page 22 In case of an energy supply failure, the gripping force decreases and a secure hold on the gripped workpiece cannot be guaranteed. Take suitable protective measures to secure the danger zone. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
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Page 23: Technical Data
For further information, visit schunk.com/serialisierung A separate app may be required for scanning with a mobile phone. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 24: Basic Data
It cannot cover all of the safety or gripping force maintenance functions. ** SCHUNK recommends: Littelfuse 1A time delay (0154001 .DRTL) More technical data is included in the catalog data sheet. Whichever is the latest version. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 25: Ambient Conditions And Operating Conditions
SPS programming. Gripping force diagram The gripping force diagram shows the achievable gripping force at 15 mm/s and 150 mm/s with the relevant motor current. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... - Page 26 The v-L diagram shows the maximum finger length according to the set motor current and the process speed. If the maximum finger length is exceeded, the guides will wear prematurely. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
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Page 27: Design And Description
EGL 2-finger-parallel gripper, example version PROFINET Finger interface Housing PROFINET, PROFIBUS or CAN bus socket PROFIBUS or CAN bus socket OR: PROFINET socket Power supply plug Service window Finger centering sleeves 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 28: Description
PROFINET is assigned by SPS PROFIBUS 0-127 SDP* / SMP *) recommended by SCHUNK 4.3 Interfaces and service windows Interfaces and service window, PROFIBUS and CAN bus variant 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... - Page 29 If a USB device is connected to the interface USB mini AB, device. When connecting the USB stick to the interface USB micro AB, host and when the DIP switch 1 is "ON". 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
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Page 30: Led
Lights up if there is an info message. Flashes if the hardware is not recognized or if the status of the software is undefined (alternating with "module error" LED). 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... - Page 31 CAN bus off Lights up if communication via PROFIBUS or CAN bus state has been interrupted. Does not light up if there is communication via PROFIBUS or CAN bus. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
- Page 32 Flashes red if there is a serious fault with the product. Flashes red if the product is not ready for operation. Flashes green/red alternately if a Firmware update is being carried out. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
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Page 33: Dip Switch
CAN baud rate 1 The baud rate for CAN bus is set, } 5.5 [/ 46] CAN baud rate 2 The baud rate for CAN bus is set, } 5.5 [/ 46] 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 34: Functional Principle
(of the individual bus systems) are described in the software handbook of the respective protocol, see "SCHUNK Drive Protocol (SDP)" and "SCHUNK Motion Protocol (SMP)" software manuals. SCHUNK recommends using the "SDP" protocol. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 35: Assembly And Settings
(adapter plates). ð Observe the maximal tightening torque, admissible screw-in depth and, if necessary, strength class. Connect the ground cable between the product and the machine/system, } 5.3 [/ 44]. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... - Page 36 ð "Power supply" LED 1 lights up green. ð "Logic supply" LED 2 lights up green. ð "Module status" LED 3 flashes yellow. ð "Module error" LED 4 does not light up. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
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Page 37: Connections
Assembly example, EGL PROFIBUS/CAN bus variant with connecting element adapter plate Item Designation Note Fastening screws Specifications for the mounting screws: Finger to base jaw See the following table Finger interface Housing Adapter plate interface 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 38: Electrical Connection
Make sure that all components are grounded correctly. NOTE Note on EMC conformity (according to EN 61000-6-3: 2007+A1:2011): The product may only be used in DC distribution networks with an expansion of < 30 m. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... - Page 39 CAN bus are A-coded. PIN allocation of socket and plug for Profibus oder CAN bus Profibus +5V bus PB-B PB-A – PB-GND CAN bus CAN-H – CAN-L GND-CAN 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
- Page 40 Observe the permissible bending radii of the connecting cables used. CAUTION Material damage due to incorrect assembly! When connecting the cable, do not exceed the maximum tightening torque of 0.8 Nm for the cable. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
- Page 41 Assembly and settings Cable outlets and strain relief Communication cable (e.g. PROFINET etc.) Voltage supply cable Cable outlets and strain relief (shown as an example) 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
- Page 42 Assembly and settings 5.2.2.3 Wiring diagram Connection diagram, PROFINET variant 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
- Page 43 Assembly and settings Connection diagram, PROFIBUS and CAN bus variant 5.2.2.4 External protection The power circuit of the EGL needs to be protected by a fuse provided by the customer, } 3 [/ 23]. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
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Page 44: Connecting The Ground Cable (Functional Ground)
Always use all components to fasten the ground cable (functional ground) and install them in this order: toothed lock washer, cable lug, washer and screw. See "Ground connection" diagram. Observe the tightening torque. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 45: Combining Several Products (Profibus, Can Bus)
"n" to product "n+1". Plug bus cable 2 from the socket of the product "n" to the product plug "n+1". On the last product, plug the termination resistor into the plug. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 46: Setting The Baud Rate (Can Bus)
Switch off the logic voltage. Set the desired fieldbus address by turning the "S1" and "S2" rotary encoder switches. ð The rotary encoder switch must engage into the desired position. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... - Page 47 Decimal address Rotary encoder switch Rotary encoder switch "S1" "S2" … … … … … … … … … … Tab.: Address configuration for CAN bus or PROFIBUS 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
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Page 48: Start-Up
The software version is displayed on the "General Information" tab under "Software Version". The firmware version of the product can be found in the product window by choosing "Module" and then "Module Information". 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 49: Commissioning The Product
When the logic voltage is disconnected from the product and switched on again, the product is always reset to these default values. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 50: Profinet
To ensure a reliable process sequence, SCHUNK recommends carrying out a reference run after each system restart. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 51: Commissioning With Profinet Interface
ð "Module error" LED 4 lights up or flashes. An error message or warning is pending and the product is not ready for operation. If an error message is pending, eliminate the error: Troubleshooting. Project product, [/ 52]. } 6.3.4 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 52: Projecting Of The Regulator
Choose option Extras > Manage device description file (GSD). ð The Manage device description file window will be displayed. Under Source path, select the storage location of the current GSDML file. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... - Page 53 Highlight the current GSDML file of the product by checking the box. Start the import of the highlighted GSDML file with Install. ð The Installation window displays the installation steps. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
- Page 54 Start-up Confirm the successful completion of the installation with Close. The product will then be automatically made available in the catalog of available hardware: 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
- Page 55 Highlight the product and select the Device View tab. Specify the addresses of the inputs and outputs with the Input/Output Frame option or the Input/Output Element option. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
- Page 56 If necessary, adjust the product name in the Properties – General tab. If necessary, adjust the IP addresses in the Properties – PROFINET interface [X1] – Ethernet Addresses tab. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
- Page 57 Press the Translate button to check the accuracy of the projecting. If an error or a warning is displayed, remove it and press the Translate button again. ð The Translate button is displayed. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
- Page 58 ð After a successful check, the Translate window will close automatically. Highlight the CPU of the higher-level control in the project and press the Load in Device button. ð The Enhanced Load window is shown. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
- Page 59 ð In the results list Compatible devices in the destination subnet, the CPU of the higher-level control is displayed. Select the CPU of the higher-level control and press the Load button. ð The data will be transferred. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
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Page 60: Operation
In the "Position ramp" parameter, the "jerk limited" ramp is set and in the "After reference 0 travel" a "Yes" is entered. If a target jerk is entered, the product does not move. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 61: Perform Quick Test
ð Relative travel is executed. Switch DIP switch 2 "Test 2" to "OFF" position. Switch logic voltage off and back on again. ð Test mode is ended. ð Product is restarted. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... - Page 62 Switch DIP switches 2 "Test 2" and 3 "Test 1" to "OFF" position. Switch logic voltage off and back on again. ð Test mode is ended. ð Product is restarted. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
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Page 63: Change Parameter Configuration On The Product With Usb Stick
7.4 Updating firmware The firmware can only be updated after consultation with SCHUNK's service department via the USB Mini AB (Device) or USB Micro AB (Host). NOTE The Firmware has the file extension *.bin. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 64: Update Via Usb Mini Ab (Device)
Open the "FirmwareUpdater.exe" file and follow the instructions. 7.4.2 Update via USB Micro AB (host) Service window, PROFINET variant Service window, PROFIBUS and CAN bus variant USB Micro AB, host DIP switch 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... - Page 65 ð LED 4 flashes red once. NOTE The logic board is being updated. Do not disconnect the product from the power supply. ð LED 4 flashes red rapidly. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
- Page 66 ð After LED 4 goes out, LED 3 lights up yellow. Switch DIP switch 1 to "ON" position. ð LED 1 and LED 2 light up green. ð LED 6 lights up red. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
- Page 67 ð LED 3 lights up yellow for approx. 5 seconds. ð After LED 3 goes out, LED 4 lights up red. ð The firmware update was successful and the product is ready for use. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097...
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Page 68: Trouble Shooting
Restart product after saving. OR: Before saving, stop the product using fast stop. IMPORTANT! New values are not saved in EEPROM if the product is under control or in motion. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 69: Product Moves In A Jerky Fashion, Is Sluggish Or Blocked
Setpoint settings for current, speed, jerk and Check setpoint settings and enter suitable acceleration are not suitable or too low values, see the "SCHUNK Motion Protocol (SMP)" and "SCHUNK Drive Protocol (SDP)" software manuals. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 70: Maintenance
Material damage due to improper disassembly! 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. 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 71: Eu-Declaration Of Conformity
Generic standards - Emission standard for industrial environments Signed for and on behalf of: SCHUNK SE & Co. KG Lauffen/Neckar, November 2023 Dr.-Ing. Manuel Baumeister, Head of Systems Engineering, Technology & Innovation 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 72: Translation Of The Original Declaration Of Incorporation
Person authorized to compile the technical documentation: Stefanie Walter, Address: see manufacturer's address Lauffen/Neckar, November 2023 Dr.-Ing. Manuel Baumeister, Head of Systems Engineering, Technology & Innovation 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 73: Ukca Declaration Of Conformity
Marcel Machado, address: refer to manufacturer's address Signed for and on behalf of: SCHUNK SE & Co. KG Lauffen/Neckar, November 2023 Dr.-Ing. Manuel Baumeister, Head of Systems Engineering, Technology & Innovation 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 74: Ukca Declaration Of Incorporation
Person authorized to compile the technical documentation: Marcel Machado, address: refer to manufacturer's address Lauffen/Neckar, November 2023 Dr.-Ing. Manuel Baumeister, Head of Systems Engineering, Technology & Innovation 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097... -
Page 75: Information On The Rohs Directive, Reach Regulation And Substances Of Very High Concern (Svhc)
"on the restriction of the use of certain hazardous substances in electrical and electronic equipment (RoHS)", or fulfill their intended function only as part of one. Therefore products from SCHUNK do not fall within the scope of the directive at this time. REACH Regulation Products from SCHUNK fully comply with the regulations of Regulation (EC) No. 1907/2006... - Page 76 SCHUNK SE & Co. KG Toolholding and Workholding | Gripping Technology | Automation Technology Bahnhofstr. 106 - 134 D-74348 Lauffen/Neckar Tel. +49-7133-103-0 info@de.schunk.com schunk.com Folgen Sie uns I Follow us Wir drucken nachhaltig I We print sustainable...
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