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Summary of Contents for SCHUNK RH
- Page 1 Assembly and Operating Manual PRH Servo-electric miniature rotary unit 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: 389327 Version: 06.00 | 09/10/2023 | en...
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Page 3: Table Of Contents
Table of Contents Table of Contents 1 General ..................... 5 About this manual................1.1.1 Presentation of Warning Labels ............. 1.1.2 Applicable documents ..............1.1.3 Sizes..................1.2 Warranty ................... 1.3 Scope of delivery................. 1.4 Accessories ..................2 Basic safety notes ................2.1 Intended use.................. - Page 4 Table of Contents 5 Assembly and installation............... 26 5.1 Mechanical connection................. 26 5.2 Assembly example................27 5.3 Electrical connection ................28 5.3.1 USB parameterization interface ............. 28 5.3.2 CAN interface................28 5.3.3 PROFIBUS DP interface ..............30 5.3.4 Digital Inputs ................32 5.3.5 DEFAULT and BOOT function............
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Page 5: General
General terms of business * Catalog data sheet of the purchased product * Assembly and operating manuals of the accessories * Software manual "Motion Control SCHUNK" * The documents labeled with an asterisk (*) can be downloaded from schunk.com. 06.00 | PRH | Assembly and Operating Manual | en | 389327... -
Page 6: Sizes
The scope of delivery includes Servo-electric miniature rotary unit PRH in the version ordered Centering sleeve SMP firmware Contents of DVD: "SCHUNK Motion Tool (MTS)" configuration and commissioning tool Software manual "Motion Control SCHUNK" Assembly and Operating Manual USB driver 1.4 Accessories... -
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. 06.00 | PRH | Assembly and Operating Manual | en | 389327... -
Page 8: Ambient Conditions And Operating Conditions
Basic safety notes 2.5 Ambient conditions and operating conditions Required ambient conditions and operating conditions Incorrect ambient and operating conditions can make the product unsafe, leading to the risk of serious injuries, considerable material damage and/or a significant reduction to the product's life span. -
Page 9: Environmental Conditions
Basic safety notes Sinusoidal interference Test values Corresponds to degree of severity HF radiation 80% amplitude modulation at (electromagnetic fields) as per 1 kHz to 10 V/m in the range of EN 61000-4-3 80 … 1000 MHz to 3 V/m in the range of 1.4 …... - Page 10 Basic safety notes Ambient condition Value Note Free fall EN 60068-2-32 <= 0.3 m In transport packaging: 5 g Temperature EN 60068-2-2 +70°C Bb test, dry heat, storage Temperature EN 60068-2-1 -40°C Ab test, cold, storage Thermal shock -40 … +70°C Na test, holding time 3 h, 5 cycles EN 60068-2-14 Air pressure IEC 60068-2-13...
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Page 11: Personnel Qualification
Basic safety notes Tests with regard to Tests with regard to mechanical ambient conditions ambient conditions The following table shows the type and extent of tests that were used to check the product with regard to mechanical ambient conditions. Test Physical quantity Value, note Vibrations EN 60068-2-6... -
Page 12: Personal Protective Equipment
Basic safety notes Service personnel of Due to its technical training, knowledge and experience, service the manufacturer personnel of the manufacturer is able to perform the delegated tasks and to recognize and avoid possible dangers. 2.7 Personal protective equipment Use of personal protective equipment Personal protective equipment serves to protect staff against danger which may interfere with their health or safety at work. -
Page 13: Transport
Basic safety notes 2.9 Transport Handling during transport Incorrect handling during transport may impair the product's safety and cause serious injuries and considerable material damage. 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. -
Page 14: Protection During Handling And Assembly
Basic safety notes 2.12.1 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. For all work, secure the product against accidental operation. Observe the relevant accident prevention rules. -
Page 15: Protection Against Electric Shock
Basic safety notes operating condition of the drive. Perform maintenance work, modifications, and attachments outside the danger zone defined by the movement range. To avoid accidents and/or material damage, human access to the movement range of the machine must be restricted. Limit/ prevent accidental access for people in this area due through technical safety measures. -
Page 16: Protection Against Magnetic And Electromagnetic Fields
Basic safety notes While paying attention to the actual conditions of the working environment, the potential equalisation must be implemented by a specialist electrician according to the applicable regulations. The effectiveness of the potential equalisation must be verified by executing regular safety measurements. 2.12.5 Protection against magnetic and electromagnetic fields Work in areas with magnetic and electromagnetic fields Magnetic and electromagnetic fields can lead to serious injuries. -
Page 17: Notes On Particular Risks
Basic safety notes 2.13 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 movement of the base jaw, due to breakage or loosening of the gripper fingers or if the workpiece is lost. Wear suitable protective equipment. Do not reach into the open mechanism or the movement area of the product.
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Page 19: Technical Data
Scan code or enter serial number on the web and get all the product information: operating manuals, spare parts packages, software updates and much more. For further information, visit schunk.com/serialisierung A separate app may be required for scanning with a mobile phone. 3.2 Basic data... - Page 20 * For use in dirty ambient conditions (e.g. sprayed water, vapors, abrasion or processing dust) SCHUNK offers corresponding product options as standard. SCHUNK also offers customized solutions for special applications in dirty ambient conditions. For applications in which an object is turned endlessly, [/ 36].
- Page 21 * For use in dirty ambient conditions (e.g. sprayed water, vapors, abrasion or processing dust) SCHUNK offers corresponding product options as standard. SCHUNK also offers customized solutions for special applications in dirty ambient conditions. For applications in which an object is turned endlessly, } 5.5...
- Page 22 * For use in dirty ambient conditions (e.g. sprayed water, vapors, abrasion or processing dust) SCHUNK offers corresponding product options as standard. SCHUNK also offers customized solutions for special applications in dirty ambient conditions. For applications in which an object is turned endlessly, [/ 36].
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Page 23: Factory Settings / Default Values
Technical data 3.3 Factory settings / DEFAULT values Reference value DEFAULT value Interface Baud rate 9600 Module address 3.4 Requirements for the voltage supply NOTE If the product is operated during a position run at high speed, acceleration and jerk values, then voltage peaks in the power supply may occur when delaying/braking due to the engine recovering. -
Page 24: Design And Description
Note Connecting digital M12-12-pin inputs or SCHUNK (connected via service interface SCHUNK service box SSB for parameterization via USB or via SCHUNK- V4-M8-M12 distributor for connecting sensors of digital PLC outputs) Fieldbus outflow M12- 5-pin Fieldbus inlet M12- 5-pin Connection voltage... -
Page 25: Functional Principle
All possible parameters and the special features of each communication interface (of the individual bus systems) are described in more detail in the document about SCHUNK Motion Protocol, see DVD, document: MotionToolSchunk.pdf. 06.00 | PRH | Assembly and Operating Manual | en | 389327... -
Page 26: Assembly And Installation
Assembly and installation 5 Assembly and installation 5.1 Mechanical connection WARNING Risk of injury due to unexpected movements! If the power supply is switched on or residual energy remains in the system, components can move unexpectedly and cause serious injuries. Before starting any work on the product: Switch off the power supply and secure against restarting. -
Page 27: Assembly Example
Assembly and installation Size PRH 050 25.5 M3/5 3.4 33.5 PRH 060 M4/5 4.5 13.5 PRH 075 M5/7 52.5 18.5 5.2 Assembly example Item Designation EVG (electrical parallel gripper) PRH (servo-electrical swivel unit) SVS-VC (vision sensor) 06.00 | PRH | Assembly and Operating Manual | en | 389327... -
Page 28: Electrical Connection
Only use the USB interface as a parameterization interface. The USB connection cable supplied or the optionally available SCHUNK service box SSB is required, in order to connect the module to a PC. SCHUNK recommends using a USB isolator to protect the USB communication interface of the host PC. - Page 29 Tab.: CAN assignment of 9-pin SUB D socket Terminating a module The CAN bus terminator can be used for termination. This can be ordered from SCHUNK as an accessory. Screw the CAN bus terminator on S2, if the module is the last bus subscriber.
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Page 30: Profibus Dp Interface
Assembly and installation 5.3.3 PROFIBUS DP interface Circuit diagram: PRH PROFIBUS Designation Function SCHUNK cable color GND logic supply brown +24 V DC Logic supply white +24 V DC GND+24 V DC GND power supply blue power +24 V DC power Power supply black +24 V DC Tab.: Pin allocation S1 (voltage supply) - Page 31 Tab.: PROFIBUS DP assignment of 9-pin SUB D connector Terminating a module A terminator can be used for termination. This can be ordered from SCHUNK as an accessory. Screw the terminator on S2, if the module is the last bus subscriber.
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Page 32: Digital Inputs
Flash mode DEFAULT Default mode Tab.: Pin allocation S4 (connected via SCHUNK-V4-M8-M12 distributor or via USB -> SCHUNK service box SSB) The digital inputs can be connected directly to the PRH module using the SCHUNK V4-M8-M12 distributor. The distributor has the advantage that it collects all incoming signals and carries them in a cable. - Page 33 Assembly and installation Product photo SCHUNK-V4-M8-M12 distributor Contact assignment and wiring diagram SCHUNK-V4-M8-M12 distributor NOTE Alternatively, a self-assembly M12 cable connector can be used to connect the digital inputs to the product. Self-assembly M12 cable connector The following figure shows the internal circuitry of the digital inputs.
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Page 34: Default And Boot Function
When using the SCHUNK USB cable supplied: SCHUNK USB cable Disconnect the product from the voltage supply. Connect SCHUNK USB cable to the product on the 12-pin M12 connector socket S4. Press and hold DEFAULT button. Re-connect voltage supply. ð DEFAULT values are set on the product, } 3.3 [/ 23]... - Page 35 When using the SCHUNK service box SSB: SCHUNK service box SSB: Disconnect the product from the voltage supply. Connect SCHUNK service box to the product on the 12-pin M12 connector socket S4. Press and hold DEFAULT button. Reconnect voltage supply.
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Page 36: Handling After Switching On
"none" and trigger the reference command. The current position is then used as a new "0" position. The software handbook "Motion Control Schunk" contains further information on the reference command. 06.00 | PRH | Assembly and Operating Manual | en | 389327... -
Page 37: Troubleshooting
Corrective action Bus cable fault (connection interrupted). Check bus cable for damage and replace if necessary. Further troubleshooting, see document. "Motion Control SCHUNK". 6.4 Reference run not possible Possible cause Corrective action Reference run does not start. Increase max. reference current in steps of 10% until referencing has successfully been Reference run canceled with timeout. -
Page 38: 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. 06.00 | PRH | Assembly and Operating Manual | en | 389327... -
Page 39: Translation Of The Original Declaration Of Incorporation
8 Translation of the original declaration of incorporation in terms of the Directive 2006/42/EG, Annex II, Part 1 Section B. Manufacturer/ SCHUNK SE & Co. KG Distributor Toolholding and Workholding | Gripping Technology | Automation Technology Bahnhofstr. 106 - 134... -
Page 40: Ukca Declaration Of Incorporation
UKCA declaration of incorporation 9 UKCA declaration of incorporation in accordance with the Supply of Machinery (Safety) Regulations 2008. Manufacturer/ SCHUNK Intec Limited Distributor Clamping and gripping technology 3 Drakes Mews, Crownhill MK8 0ER Milton Keynes We hereby declare that on the date of the declaration the following partly completed machine complied with all basic safety and health regulations found in the "Supply of Machinery (Safety) Regulations 2008". -
Page 41: Eu-Declaration Of Conformity
Generic standards - Immunity standard for industrial environments EN IEC 61000-6-4:2019 Electromagnetic compatibility (EMC) - Part 6-4: Generic standards - Emission standard for industrial environments Signed for and on behalf of: SCHUNK SE & Co. KG Lauffen/Neckar, October 2023 Dr.-Ing. Manuel Baumeister, Head of Systems Engineering, Technology &... -
Page 42: Ukca Declaration Of Conformity
Generic standards - Emission standard for industrial environments Person authorized to compile the technical documentation: Marcel Machado, address: refer to manufacturer's address Signed for and on behalf of: SCHUNK SE & Co. KG Lauffen/Neckar, October 2023 Dr.-Ing. Manuel Baumeister, Head of Systems Engineering, Technology &... -
Page 43: 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 44 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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