SCHUNK 0307330 Assembly And Operating Manual Download

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Assembly and installation

02.00 | PW V6 | Assembly and operating manual | en | 389670

Example for EMERGENCY STOP

D-Len

Cmd

Param

Meaning

M -> S

0x01

0x90

S -> M

0x03

0x88

0xD9

Emergency stop
executed

Achknowledge error

Command Code:

0x8B

Description:

Achknowledgement of an error message.

Parameter

(Master -> Slave)

None.

Response

(Slave -> Master)

"OK" (0x4F4B)

Others:

If all errors have been successfully acknowledged, an

"INFO NO ERROR“ info message is sent after sending
"OK“ (0x4F4B).

Example for CMD ACK

D-Len

Cmd

Param

Meaning

M -> S

0x01

0x8B

S -> M

0x03

0x8B

0x4F 0x4B

Summary of Contents for 0307330

Page 1: ...Translation of the original operating manual Assembly and operating manual PW V6 Servo electric rotary pan tilt actuator...

Page 2: ...ations for the purpose of technical improvement Document number 389670 Version 02 00 30 04 2019 en SCHUNK GmbH Co KG All rights reserved Dear Customer thank you for trusting our products and our famil...

Page 3: ...operation 9 2 9 Transport 9 2 10 Malfunctions 9 2 11 Disposal 10 2 12 Fundamental dangers 10 2 12 1 Protection during handling and assembly 10 2 12 2 Protection during commissioning and operation 11 2...

Page 4: ...chunk MTS 36 5 7 3 Performing initial commissioning 39 5 8 Set the product to its factory settings 41 5 9 Updating firmware 41 5 10 Systemintegration 42 5 10 1 Compatibility 42 5 10 2 System structure...

Page 5: ...s manual Illustrations in this manual are provided for basic understanding and may differ from the actual product design In addition to these instructions the documents listed under Applicable documen...

Page 6: ...e of delivery includes Servo electric rotary pan tilt actuator PW V6 in the version ordered M5 plug for RS232 interface Adaptor cable USB to M5 plug length 2 m DVD Contents of DVD SCHUNK Motion Tool M...

Page 7: ...a pressing tool stamping tool lifting gear guide for tools cutting tool clamping device or a drilling tool Any utilization that exceeds or differs from the appropriate use is regarded as misuse 2 3 C...

Page 8: ...ed tasks recognize and avoid possible dangers and knows the relevant standards and regulations Instructed person Instructed persons were instructed by the operator about the delegated tasks and possib...

Page 9: ...vention and environmental protection regulations regarding the product s application field 2 9 Transport Handling during transport Incorrect handling during transport may impair the product s safety a...

Page 10: ...e system 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 2 12 1 Protection during handling and ass...

Page 11: ...y trigger dangerous movements Never rely solely on the response of the monitoring function to avert danger Until the installed monitors become effective it must be assumed that the drive movement is f...

Page 12: ...d to all electrical components according to the wiring diagram Check whether covers and protective devices are fitted to prevent contact with live components Do not touch the product s terminals when...

Page 13: ...ns with pace makers metal implants metal shards or hearing aids require the consent of a physician before entering areas in which magnetic grippers or motor parts with permanent magnets are stored rep...

Page 14: ...Stand clear of suspended loads and do not step within their swiveling range Never move loads without supervision Do not leave suspended loads unattended Wear suitable protective equipment WARNING Risk...

Page 15: ...on Touching hot surfaces can cause burns Do not touch hot surfaces Let them cool down before working on the product Wear appropriate safety equipment WARNING Risk of injury from objects falling during...

Page 16: ...s 1 Nominal torque Nm 12 0 23 0 Maximum torque Nm 24 0 46 0 Angle of rotation 120 105 Max acceleration mm s 960 600 Max angular velocity s 240 150 Axis 2 Nominal torque Nm 2 0 12 0 Maximum torque Nm 4...

Page 17: ...supply can increase via the output voltage of the power supply unit The power supply unit used for the power needs to be able to handle this overvoltage and must not switch off its output voltage Oth...

Page 18: ...RS232 interface for Axis 2 7 Assembly interface for attachments 4 RS232 interface for Axis 2 4 2 Description The product is a Servo electric rotary pan tilt actuator with integrated electronics and tw...

Page 19: ...tor voltage GND 2 X2 Connection of other products bus connection 6 LED2 Motor voltage LED 3 LED1 Logic voltage LED 7 X4 Motor voltage 24V 4 SW1 DIP switches for PROFIBUS termination and CAN bus termin...

Page 20: ...ng purposes New firmware can be loaded onto the product S2 Default Resets the product to default settings DIP switches for PROFIBUS If the product is the last device on the PROFIBUS all three PROFIBUS...

Page 21: ...ndicates whether the logic voltage is connected Lights up as long as voltage is present in the product Does not light up if there is no voltage in the product 2 Green Motor voltage Indicates whether t...

Page 22: ...nergy remains in the system 5 1 Mechanical connection Evenness of the mounting surface The values apply to the whole mounting surface to which the product is mounted Requirements for evenness of the m...

Page 23: ...4 Connecting element Depth of engagement and tightening torque Mounting material provided by the customer Designation PW V6 70 PW V6 90 Base plate Axis 2 Base plate Axis 2 Centering sleeve 6 6 8 8 Mou...

Page 24: ...damage to the internal electronics 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 groun...

Page 25: ...t can squash the cable or the plug Pull out the M5 plug before starting up the product NOTE The characteristics of the RS232 interface make it unsuitable for use as a field bus system Use the RS232 in...

Page 26: ...m PC PLC Power voltage supply Logic voltage supply 24 V 24 V FE GND GND CAN L CAN H CAN L CAN H 24 V 24 V FE GND GND Product n CAN L CAN H 24 V 24 V FE GND GND Product n 1 CAN L CAN H 24 V 24 V FE GND...

Page 27: ...onnection Terminal SCHUNK cable color CAN bus interface CAN_H White CAN_L Red FE Functional earth optional Assignments of the terminal strip X1 and the energy supply Cable 2 Connection Terminal SCHUNK...

Page 28: ...PC PLC Power voltage supply Logic voltage supply 24 V 24 V FE GND GND PB_B PB_A GND GND FE 24 V 24 V PB_A PB_B Product n PB_B PB_A 24 V 24 V FE GND GND Product n 1 PB_B PB_A 24 V 24 V FE GND GND End p...

Page 29: ...nection Terminal SCHUNK cable color PROFIBUS DP interface PB_A Green PB_B Red FE Functional earth optional Assignments of the terminal strip X1 and the energy supply Cable 2 Connection Terminal SCHUNK...

Page 30: ...ting ground cable 31 Position the connection cap on the product and tighten the screws Tightening torque 3 Nm Mount connection cap Installing connection cap 32 Connect cable for CAN bus CAN bus interf...

Page 31: ...n must be established between the product and the machine on the customer s premises The ground cable must be mounted on the threaded hole identified by the ground marking NOTE Only connect the ground...

Page 32: ...lugs 1 from the cover 4 or the connection cap 2 Strands connecting cable EMC fitting outer screen heat shrink tubing Pull the connection cable through the metric cable fitting 6 Strip approx 50 mm of...

Page 33: ...Place the cover 4 on the connection cap 2 and screw it tight 5 6 Combination of multiple products Combination of multiple products PROFIBUS and CAN bus When multiple products are combined the signals...

Page 34: ...directory of your choice on the computer NOTICE Motion Tool Schunk MTS does not require any installation We recommend using a directory for which you have write permission so that the settings that y...

Page 35: ...7 1 Connect the product to the computer Procedure for Windows 7 1 RS232 interface for tilt axis 2 RS232 interface for swivel axis The power supply of the product is connected Connect the USB paramete...

Page 36: ...en 389670 5 7 2 Open Motion Tool Schunk MTS Procedure for Windows 7 The computer is connected to the product via the RS232 interface Open Motion Tool Schunk MTS by using mts exe The program window is...

Page 37: ...V6 Assembly and operating manual en 389670 37 The Open Communication window appears Select the Serial Generic interface and the customer specific channel set the baud rate and press the Select button...

Page 38: ...670 Bus is searched and communication is established with the product that is found The product window is displayed NOTE In the product window you can view the status of the product change parameters...

Page 39: ...us of the product is displayed on the left side of the product window The most important SMP commands can be selected on the right side of the product window All other possible SMP commands can be fou...

Page 40: ...Assembly and installation 40 02 00 PW V6 Assembly and operating manual en 389670 To set parameters select the Parameters option...

Page 41: ...Address 13 14 Disconnect the product from the power supply Unscrew the cover of the connection cap Switch Default DIP switch 2 to ON position Connect the product to the power supply Switch Default DI...

Page 42: ...Example SMP firmware 1 x 1 5 5 1 5 5 1 5 5 MTS 2 x 1 5 0 1 5 5 1 5 6 Compatibility NOK NOK OK OK The program version of the Motion Tool Schunk MTS is shown at the top of the program window The softwa...

Page 43: ...e D Len byte is always followed by the command code consisting of one byte If necessary the command code is followed by the relevant parameters that are required If required a master command can be ex...

Page 44: ...further information on the commands see Software Manual SCHUNK Motion Protocol Reference run Command code 0x92 Description Eine Referenzfahrt wird ausgef hrt Parameter Master Slave Keine Response Slav...

Page 45: ...ssible if the product is no longer moving Example for MOVE VEL D Len Cmd Param Meaning M S 0x05 0xB5 0x9A 0x99 0x31 0x41 Execute velocity run with 11 1 mm s S M 0x05 0xB5 0x4F 0x4B Stop the product Co...

Page 46: ...gency stop executed Achknowledge error Command Code 0x8B Description Achknowledgement of an error message Parameter Master Slave None Response Slave Master OK 0x4F4B Others If all errors have been suc...

Page 47: ...cavities Maintenance intervals 48 6 3 Motor does not turn Possible cause Corrective action No voltage connected Check the power supply Insufficient voltage Check the power supply Technical data 16 6...

Page 48: ...move all coarse dirt and chips from the cavities in the product Check for damage and replace the product if necessary Any repair work on the product may only be carried out by SCHUNK 7 2 Disassembly a...

Page 49: ...ic rotary pan tilt actuator PW V6 electric ID number 0307330 0307332 0307333 The partly completed machine may not be put into operation until conformity of the machine into which the partly completed...

Page 50: ...1 Definitions X 1 1 2 Principles of safety integration X 1 1 3 Materials and products X 1 1 4 Lighting X 1 1 5 Design of machinery to facilitate its handling X 1 1 6 Ergonomics X 1 1 7 Operating posi...

Page 51: ...ble guards X 1 4 2 3 Adjustable guards restricting access X 1 4 3 Special requirements for protective devices X 1 5 Risks due to other hazards 1 5 1 Electricity supply X 1 5 2 Static electricity X 1 5...

Page 52: ...uirements for certain categories of machinery X 2 1 Foodstuffs machinery and machinery for cosmetics or pharmaceutical products X 2 2 Portable hand held and or guided machinery X 2 2 1 Portable fixing...

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