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 2.x Original Betriebsanleitung...
- Page 2 Best regards, Your SCHUNK team Customer Management Tel. +49-7133-103-2503 Fax +49-7133-103-2189 cmg@de.schunk.com Please read the operating manual in full and keep it close to the product. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 3: Table Of Contents
3.1 Basic data ..................20 3.2 Diagrams................... 21 4 Design and description ................23 4.1 Design ....................23 4.2 Description ..................23 4.3 Interfaces and service windows.............. 24 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 4 7.2 Product moves in a jerky fashion, is sluggish or blocked ......61 7.3 Drive not turning ................61 8 Maintenance ..................62 8.1 Maintenance intervals................62 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
- Page 5 11 UKCA declaration of Conformity ..............65 12 UKCA declaration of incorporation ............66 13 Information on the RoHS Directive, REACH Regulation and Substances of Very High Concern (SVHC) ..................67 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 6: General
The term "product" replaces the product name on the title page in this manual. 1.1.3 Symbol definition The following symbols are used in this manual: 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 7: Applicable Documents
"SCHUNK Motion Tool (MTS)" configuration and commissioning tool "SCHUNK Motion Tool (MTS)" software manual "SCHUNK Motion Protocol (SMP)" software manual "SCHUNK Drive Protocol (SDP)" software manual 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 8: 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. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 9: Basic Safety Notes
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. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 10: Gripper Fingers
Immunity for industrial environments (2005) EN 61000-6-3 Interference emissions in residential, commercial, (2011) industrial and light industrial environments EN 61000-6-4 Emission standard for industrial environments (2007) 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 11: Environmental Conditions
Air humidity 55%, non-condensing, dry heat, in operation Temperature EN 60068-2-1 0°C Cold, storage, in operation Temperature EN 60068-2-30 +25 … +55°C Damp heat, cyclic 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 12: Personnel Qualification
Before working with the product, the personnel must have read and understood the complete assembly and operating manual. Observe the national safety regulations and rules and general safety instructions. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 13: Personal Protective Equipment
Avoid any manner of working that may interfere with the function and operational safety of the product. Use the product as intended. Observe the safety notes and assembly instructions. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 14: Transport
Follow local regulations on dispatching product components for recycling or proper disposal. 2.13 Fundamental dangers General Observe safety distances. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 15: Protection During Handling And Assembly
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. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 16: Protection Against Electric Shock
Check whether covers and protective devices are fitted to prevent contact with live components. Do not touch the product's terminals when the power supply is switched on. Possible electrostatic energy 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 17: Protection Against Magnetic And Electromagnetic Fields
A special additional EMC test may be necessary if the system has a high risk potential. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 18: 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. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 19 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. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 20: Technical Data
It cannot cover all of the safety or gripping force maintenance functions. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 21: Diagrams
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. Derating diagram 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 22: Ambient Temperature [°C]
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. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 23: Design And Description
Depending on the bus system, various address ranges and communication protocols are available: Address range Communication protocol PROFIBUS 0-127 SDP* / SMP CAN bus 0-255 *) recommended by SCHUNK 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 24: Interfaces And Service Windows
In the following cases, communication via the bus connection is not possible: 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 25: Led
Indicates if there is an error; see "SCHUNK Motion Protocol error (SMP)" and "SCHUNK Drive Protocol (SDP)" software manuals. Lights up if there is an error. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 26: Dip Switch
DIP switch Designation Function Enable Enable USB host for firmware USB host update, } 5.10.2 [/ 50] Test 1 Perform quick test on the product, } 5.8 [/ 38] 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 27: Functional Principle
"SCHUNK Drive Protocol (SDP)" and "SCHUNK Motion Protocol (SMP)" software manuals. SCHUNK recommends using the "SDP" protocol. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 28: Assembly And Settings
Assembly example, EGL PROFIBUS/CAN bus variant with connecting element adapter plate Designation Note Fastening screws Specifications for the mounting screws: Finger to base jaw See the following table Finger interface 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 29: Electrical Connection
The supply network must be a network of type "PELV" for power and logic. Observe the PIN assignment of the connecting terminals. Make sure that all components are grounded correctly. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 30: Pin Allocation
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 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 31: Cable Connections
0.8 Nm for the cable. Cable outlets and strain relief Communication cable (PROFIBUS, CAN bus ) Voltage supply cable Cable outlets and strain relief (shown as an example) 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 32: Wiring Diagram
5.2.3 Wiring diagram Wiring diagramm 5.2.4 External protection The power circuit of the EGL needs to be protected by a fuse provided by the customer, [/ 20]. } 3 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 33: Assembling And Connecting
Plug the cable for the fieldbus into the plug and screw it in by hand, } 5.2.2 [/ 31]. If the cable is tightened with a tool, for example a wrench, observe maximum tightening torque, } 5.2.2 [/ 31]. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 34 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. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 35: Connecting The Ground Cable (Functional Ground)
Observe the tightening torque. 5.5 Combining several products (PROFIBUS, CAN bus) This chapter describes the combination of products for the EGL PROFIBUS or EGL CAN bus variants. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 36: Setting The Baud Rate (Can Bus)
DIP switches "4" and "5", [/ 26]. The following settings are possible: } 4.3.2 DIP switch 4 DIP switch 5 Baud rate 125 kbaud 250 kbaud 500 kbaud 1000 kbaud 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 37: Configuring Profibus Or Can Bus
PROFIBUS 0-125 00-7D CAN bus 0-255 00-FF Tab.: CAN bus and PROFIBUS address range Hexadecimal address Decimal address Rotary encoder switch Rotary encoder switch "S1" "S2" 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 38: Performing A Quick Test
DIP switch Test 1 Test 2 Command Function Wait for new command CMD ACK Acknowledgment of a pending error message A reference run is executed REFERENCE 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 39: Commissioning The Product
In the following cases, communication via the bus connection is not possible: 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 40 USB driver, [/ 41]. } 5.9.1 Connect the product to the computer, } 5.9.2 [/ 42]. Open "Motion Tool SCHUNK (MTS)" via "mts.exe", } 5.9.3 [/ 43]. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 41: Install The Usb Driver
ð For 64-bit systems: install_x64.exe ð For 32-bit systems: install_x86.exe ð The "Device Driver Installation Wizard" window appears. Click the "Continue" button. ð The USB driver is installed. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 42: Connecting The Product To The Computer
The power supply of the product is connected. Connect the USB cables to the computer and to the USB Mini AB, Device on the product. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 43: Opening Motion Tool Schunk (Mts)
The computer is connected to the product via USB Mini AB, Device Open Motion Tool SCHUNK (MTS) via "mts.exe". ð The program window is displayed. Go to "Settings" and choose "Open Communication…" from the menu. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 44 In the module window, you can view the status of the module, change parameters, and test SCHUNK Motion Protocol (SMP) commands; see the "SCHUNK Motion Control" software manual. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 45: Performing Initial Commissioning
"Module" menu option. Procedure for Windows 7 Click the "Movement" button. ð Additional control elements for motion commands are displayed. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 46: Updating Firmware
There is new firmware on the computer The power supply of the product is connected The computer is connected to the product via USB Mini AB, Device 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 47 Assembly and settings Start Motion Tool SCHUNK (MTS) using "mts.exe". ð The program window is displayed. Go to "Settings" and choose "Open Communication…" from the menu. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
- Page 48 Select "New firmware on the computer" and click the "Open" button. ð The "File selection" window closes. ð The "Password Entry" window appears. Enter your password and click the "OK" button. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
- Page 49 When the update is finished, the "Please restart the module" message appears in the "Update firmware:" window. Disconnect the product from the power supply. ð LED 1 and LED 2 go out. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 50: Update Via Usb Micro Ab (Host)
DIP switches "1" and "2" are in "OFF" position Connect the USB flash drive to the USB Micro AB, host. Switch on the power supply of the product. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 51 ð After LED 3 goes out, LED 4 lights up red. ð The firmware update was successful and the product is ready for use. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
- Page 52 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. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 53: Systemintegration
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". 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 54: System Structure
If required, a "master command" can be extended with a "sub- command". All commands sent are immediately confirmed by the product 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 55: Important Commands
S -> M 0x03 0x92 0x4F0x4B successfully referenced Tab.: Example for REFERENCE Positioning run Command code: 0xB0 Description: Moves the product to a specified position. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 56 Others: Spontaneous message is possible. D-Len Param Meaning M -> S 0x01 0x91 S -> M 0x03 0xB5 0x4F 0x4B Tab.: Example for CMD STOP 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
- Page 57 "INFO NO ERROR“ info message is sent after sending "OK“ (0x4F4B). D-Len Param Meaning M -> S 0x01 0x8B S -> M 0x03 0x8B 0x4F 0x4B Tab.: Example for CMD ACK 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 58: Start-Up
If other combinations are used, the product may end up in an undefined status during parameterization. Compatibility of Firmware and Motion Tool SCHUNK (MTS) 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... - Page 59 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". 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661...
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Page 60: Trouble Shooting
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. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 61: Product Moves In A Jerky Fashion, Is Sluggish Or Blocked
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. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 62: Maintenance
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. 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 63: Eu-Declaration Of Conformity
Generic standards - Emission standard for industrial environments Signed for and on behalf of: SCHUNK SE & Co. KG Lauffen/Neckar, December 2024 Dr.-Ing. Manuel Baumeister, Head of Systems Engineering, Technology & Innovation 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 64: Translation Of The Original Declaration Of Incorporation
Person authorized to compile the technical documentation: Stefanie Walter, Address: see manufacturer's address Lauffen/Neckar, December 2024 Dr.-Ing. Manuel Baumeister, Head of Systems Engineering, Technology & Innovation 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 65: Ukca Declaration Of Conformity
Marcel Machado, address: refer to manufacturer's address Signed for and on behalf of: SCHUNK SE & Co. KG Lauffen/Neckar, December 2024 Dr.-Ing. Manuel Baumeister, Head of Systems Engineering, Technology & Innovation 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 66: Ukca Declaration Of Incorporation
Person authorized to compile the technical documentation: Marcel Machado, address: refer to manufacturer's address Lauffen/Neckar, December 2024 Dr.-Ing. Manuel Baumeister, Head of Systems Engineering, Technology & Innovation 07.00 - FW 2.x | EGL | Assembly and Operating Manual | en | 389661... -
Page 67: 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 68 SCHUNK SE & Co. KG Spanntechnik | Greiftechnik | Automatisierungstechnik 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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