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Design and description

24

11.00 | EGN | Assembly and Operating Manual | en | 389056

4 Design and description

4.1 Design

2-finger parallel gripper with hybrid cable

1

Ground connection

4

EMC fitting

2

Housing

5

Hybrid cable for connection
to controller

3

Air purge connection

2-finger parallel gripper with Y-plug

1

Ground connection

5

Y-plug

2

Housing

6

Encoder connection

3

Air purge connection

7

Power connection

4

EMC fitting

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Summary of Contents for EGN

Page 1: ...Translation of Original Operating Manual Assembly and Operating Manual EGN 2 finger parallel gripper ...

Page 2: ...s for the purpose of technical improvement Document number 389056 Version 11 00 05 03 2020 en SCHUNK GmbH Co KG All rights reserved Dear Customer thank you for trusting our products and our family owned company the leading technology supplier of robots and production machines Our team is always available to answer any questions on this product and other solutions Ask us questions and challenge us ...

Page 3: ...nal protective equipment 11 2 9 Notes on safe operation 11 2 10 Transport 12 2 11 Malfunctions 12 2 12 Disposal 13 2 13 Fundamental dangers 13 2 13 1 Protection during handling and assembly 14 2 13 2 Protection during commissioning and operation 14 2 13 3 Protection against dangerous movements 15 2 13 4 Protection against electric shock 16 2 13 5 Protection against magnetic and electromagnetic fie...

Page 4: ... 7 1 1 Product does not move 39 7 1 2 Gripping force gets weaker 39 7 1 3 Product does not execute a complete stroke 39 7 1 4 Product opens or closes jerkily 39 7 1 5 Motor rotates but does not move gripper 39 7 1 6 The module s motor is not turning 40 7 2 Behavior in event of malfunctions on the ECM controller 40 8 Maintenance 41 8 1 Maintenance intervals 41 8 2 Grease greasing areas 41 8 3 Maint...

Page 5: ... 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 documents 6 are applicable 1 1 1 Presentation of Warning Labels To make risks clear the following signal words and symbols are used for safety notes DANGER Danger for persons Non observance will inevitably ca...

Page 6: ... the following variations EGN with hybrid cable EGN S with Y plug EGN Dust tight version SD EGN S Dust tight version SD 1 4 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 Observe the maximum service life Technical data 20 Observe the ambient conditions and operating conditions Ambient conditions and ope...

Page 7: ... with the ECM controller Motion Tool Schunk MTS configuration and commissioning tool EEPROM files for the ECM controller Assembly and Operating Manual FB20 function module for Siemens S7 300 400 for controlling SCHUNK products Schunk Motion Tool MTS software manual A wide range of accessories are available for this product For information regarding which accessory articles can be used with the cor...

Page 8: ...or industrial and industry oriented use Appropriate use of the product includes compliance with all instructions in this manual 2 2 Not intended use It is not intended use if the product is used for example as 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 mis...

Page 9: ...e the gripper fingers when no residual energy remains in the product Make sure that the product and the top jaws are a sufficient size for the application 2 6 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 ...

Page 10: ...elated to the product Trained electrician 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 Qualified personnel Due to its technical training knowledge and experience qualified personnel is able to perform the delegated tasks recognize and avoid po...

Page 11: ...gles when handling hazardous substances Wear close fitting protective clothing and also wear long hair in a hairnet when dealing with moving components 2 9 Notes on safe operation Incorrect handling of the personnel Incorrect handling and assembly may impair the product s safety and cause serious injuries and considerable material damage Avoid any manner of working that may interfere with the func...

Page 12: ...opriate means Secure the product against falling during transportation and handling Stand clear of suspended loads 2 11 Malfunctions Behavior in case of malfunctions Immediately remove the product from operation and report the malfunction to the responsible departments persons Order appropriately trained personnel to rectify the malfunction Do not recommission the product until the malfunction has...

Page 13: ...nents for recycling or proper disposal 2 13 Fundamental dangers General Observe safety distances Never deactivate safety devices Before commissioning the product take appropriate protective measures to secure the danger zone Disconnect power sources before installation modification maintenance or calibration Ensure that no residual energy remains in the system If the energy supply is connected do ...

Page 14: ...vention rules Use suitable assembly and transport equipment and take precautions to prevent jamming and crushing Incorrect lifting of loads Falling loads may cause serious injuries and even death Stand clear of suspended loads and do not step into their swiveling range Never move loads without supervision Do not leave suspended loads unattended 2 13 2 Protection during commissioning and operation ...

Page 15: ...ffective it must be assumed that the drive movement is faulty with its action being dependent on the control unit and the current 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 acc...

Page 16: ...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 the power supply is switched on Possible electrostatic energy Components or assembly groups may become electrostatically charged When the electrostatic charge is touched the discharge may trigger a sh...

Page 17: ...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 repaired or assembled Do not operate high frequency or radio devices in the proximity of electric components of the drive system and their feed lines If the use of such devices is necessary When starting...

Page 18: ...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 of injury from objects falling and being ejected Falling and ejected objects during operation can lead to serious injury or death Take appropriate protective measures to secure the danger zone WARNIN...

Page 19: ...not reach into the open mechanism or the movement area of the product WARNING Risk of injury from sharp edges and corners Sharp edges and corners can cause cuts Use suitable protective equipment WARNING Risk of injury from objects falling in the event of an energy supply failure In case of an energy supply failure the gripping force decreases and a secure hold on the gripped workpiece cannot be gu...

Page 20: ...a 1500 Max permissible finger length mm 100 125 200 Repeatability mm in power mode end position spread after 100 consecutive strokes 0 01 Brake Brake not present Electrical operating data Nominal voltage VDC 24 Nominal power current A 1 0 1 8 2 6 Max current A 4 0 Designation EGN 80 100 160 Mechanical operating data for dust tight SD variant Weight kg 0 94 1 53 3 4 IP rating 64 Pressure range for ...

Page 21: ...m Dimensions without tolerances 0 4 mm Output equation ES1 S3 KER1 R2 cos ES2 S4 KER1 R2 sin Rotor turns CCW from the attachment side Characteristics Specification Note Function 1X BRX Primary Runner Transmission ratio 0 5 5 Zero voltage 20 mV max Input impedance ZRO 140 Ω 20 Output impedance ZSS 120 Ω 20 Electric strength AC 500 Vms 1 min 60Hz Leakage resistance 100 mΩ min DC 500V Weight 0 03 kg ...

Page 22: ... at Mn W Pv 9 Motor constant N w Km 0 1 Intermediate circuit voltage V Uzk 24 Counter voltage phase phase V Electromotive force 0 00642 at 1 rpm Resistance phase phase Ω Rπ20 1 5 Inductivity phase phase mH Lπ 1 4 Time constant ms τξ 0 93 Number of pole pairs N 7 Useful formula Finger stroke tan 40 x motor angle rad Phi Technical recommendation Type 80 100 160 I A 1 0 1 8 2 6 Gripping force N 400 7...

Page 23: ... range C 5 to 55 5 to 55 Max cable length m 20 20 Max conductor resistance 0 25 mm2 0 75 mm2 78 Ohm km 26 Ohm km 78 Ohm km Cable type Power Transducer Cable track Bending radius x times the cable diameter once several times permanently cable track 3 x D 7 5 x D 10 x D Cable type Power Transducer Torsion Bending radius x times the cable diameter once several times permanently torsion 5 x D 8 5 x D ...

Page 24: ...gn 2 finger parallel gripper with hybrid cable 1 Ground connection 4 EMC fitting 2 Housing 5 Hybrid cable for connection to controller 3 Air purge connection 2 finger parallel gripper with Y plug 1 Ground connection 5 Y plug 2 Housing 6 Encoder connection 3 Air purge connection 7 Power connection 4 EMC fitting ...

Page 25: ...ripper with high gripping force and payloads due to multi tooth guidance The product is controlled by an external controller Optimal application utilization is achieved with the SCHUNK ECM controller 4 3 Functional principle All possible parameters are described in the document relating to the SCHUNK Drive Protocol see Drive Protocol document ...

Page 26: ...s dropped to a residual voltage of less than 10 V LED UMOT goes out Check supply voltage between UMot and GND on the terminal strip CAUTION Material damage due to mechanical forces If the cable which is fixed to the product or the plug is exposed to mechanical forces e g turn or bend this may lead to a cable break Fasten the plug so to the product that the plug is always in the quite same position...

Page 27: ...ion cable Electrical connection to the ECM controller 30 Encoder connection cable on the controller to the Resolver terminal strip Power connection cable on the controller to the Motor terminal strip Variant with Y plug Ø Plug encoder and power connection cables into the Y plug and screw in Ø Connect the connection cable Electrical connection to the ECM controller 30 Encoder connection cable on th...

Page 28: ...ition so that connection cables are not damaged or cannot wrap around the product when swiveling Preconditions for installing the connection cables The cables are without tensile and torsion loads Use cable guide chains The minimum bending radius 7 5 times the cable diameter is complied with Assembly of the top jaws Assembly of the top jaws Depth of engagement and tightening torque Item Mounting E...

Page 29: ...ue Item Mounting EGN 80 100 160 Side A 1 Mounting screws M5 M6 M8 Max depth of engagement mm 15 41 20 Mounting screws as per standard DIN EN ISO 4762 2 Centering sleeve Ø 8 Ø 10 Ø 14 Side B 1 Bore hole for mounting screws M4 M5 M6 2 Centering sleeve Ø 8 Ø 10 Ø 14 Side C 1 Bore hole for mounting screws M5 M6 M8 2 Centering sleeve Ø 8 Ø 10 Ø 14 ...

Page 30: ...ectrical automated systems Disconnect the controller from the power supply The intermediate circuit capacitors must be discharged Wait for approx 5 minutes for the capacitors to discharge Ensure that there is no voltage earth and short circuit the system Cover up live parts CAUTION Risk of damage to the electronics A faulty connection can cause damage to the internal electronics The supply network...

Page 31: ...nal strip resolver at drive regulator ECM Phoenix terminal Wire color Resolver signals 1 Sin Yellow Sin 2 Sin Blue Sin 3 Cos Black Cos 4 Cos Red Cos 5 Osz White Red Ref 6 GND White Yellow Ref Wire color of the supplied SCHUNK cable otherwise according to customer specifications Variant with Y plug used plug connector Connection Plug connector EGN S Encoder connection M12 A connector 8 pin Power co...

Page 32: ...gned 7 GND Grey 6 8 Osz Pink 5 Wire color of the supplied SCHUNK cable otherwise according to customer specifications Connection plug M17 Pin allocation connection plug M17 on stranded wires Connection plug M17 Wire color Motor terminal strip 1 Motor phase U Black U 2 Motor phase V Red V 3 Motor phase W White W 4 unassigned 5 unassigned 6 unassigned 7 Outer shield Wire color of the supplied SCHUNK...

Page 33: ...Assembly 11 00 EGN Assembly and Operating Manual en 389056 33 5 2 2 2 Wiring diagram Wiring diagram ...

Page 34: ...tion by means of an external fixed fuse Protection via current limiting of the supplying power supply unit Protection via a motor protection switch Protection by means of an external fixed fuse The fuse must comply with the technical data given in the following table The following fuse manufactured by ESKA is recommended Manufacturer s code 520 525 Symbol ZCS 6 3A Type safety fuse Characteristics ...

Page 35: ...put voltage 85 264 VAC 88 360 VDC Input voltage nominal 115 VAC 230 VAC 88 360 VDC Output voltage VDC 24 Output current A 5 Power W 120 Protection via a motor protection switch NOTE Adjust the response of the current sensing tripping device to 6 A Protection via a motor protection switch is practical where multiple controllers are to be operated on a 24 V bus and the products are to be used in con...

Page 36: ...e 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 cable at the location intended for this purpose Always mount the ground cable singly Always use all components to screw in the ground cable and install them in this order toothed lock washer cable lug washer...

Page 37: ...urge neither the function nor permanent tightness can be guaranteed This can result in damage to the product Connect the air purge to the air purge connection prior to starting up the product The air purge is connected to the air purge connection via a pneumatic line The air purge pressure should be between 0 2 and 0 5 bar The air purge serves to compensate for changing volumes within the gripper ...

Page 38: ...r 38 11 00 EGN Assembly and Operating Manual en 389056 6 Start up and system integration via ECM controller NOTE See Assembly and Operating Manual ECM Controller for instructions on start up and system integration of the product via the ECM controller ...

Page 39: ... Check connections on the motor 7 1 2 Gripping force gets weaker Possible cause Corrective action dirt deposits Clean and if necessary re lubricate 7 1 3 Product does not execute a complete stroke Possible cause Corrective action Dirt deposits between basic jaws and guidance Clean and if necessary re lubricate 7 1 4 Product opens or closes jerkily Possible cause Corrective action dirt deposits Cle...

Page 40: ...les to each other approx 2 2 Ω Resolver cables red white to yellow white 24 48 Ω yellow to blue 56 68 Ω black to red 56 68 Ω 7 2 Behavior in event of malfunctions on the ECM controller Identified errors are shown as hexadecimal code on the seven segment display of the controller Information about the error codes are included in the software manual see the Controller ECM Assembly and Operating Manu...

Page 41: ... cycles can ensure the lifespan is maintained Interval Mio cycles for EGN 50 125 Maintenance work 2 Check wearing parts for damage and check wear change O rings Disassembly and assembling 42 2 Supply greasing areas via a lubrication nipple on the air purge connection Grease greasing areas 41 8 2 Grease greasing areas Lubricate the product at every maintenance interval so that every greasing area i...

Page 42: ...ple Grease greasing areas 41 While lubricating completely open and close the gripper alternately Ø Unscrew the lubrication nipple Ø Screw set screw into the air purge connection 1 8 4 Disassembly and assembling This product must not be disassembled for maintenance CAUTION Material damage due to improper disassembly Incorrect works can cause damage to the mechanics and internal electronics Disassem...

Page 43: ...ction Maintaining gripper without disassembling 42 Ø Replace intermediate cover 3 and apply the intermediate jaw 2 together with centering sleeves 5 Ø IMPORTANT Always use new O rings 4 when installing the intermediate jaw 2 Measure the installation height of the O ring 4 between the intermediate jaw 2 recess and intermediate cover 3 Select the appropriate O ring from the Size of the O rings table...

Page 44: ... 40 x 1 5 0 95 1 35 Testing the function of the gripper Ø Test function of the gripper with the Motion Tool SCHUNK MTS configuration and commissioning tool see enclosed DVD Carry out speed movement with parameters according to the following table For installation and operation see Motion Tool SCHUNK MTS software manual The gripper must reach the end positions opened and closed Ø If the gripper doe...

Page 45: ...tion 2 finger parallel gripper EGN electric ID number 0306100 0306106 The partly completed machine may not be put into operation until conformity of the machine into which the partly completed machine is to be installed with the provisions of the Machinery Directive 2006 42 EC is confirmed Applied harmonized standards especially EN ISO 12100 2010 Safety of machinery General principles for design R...

Page 46: ...ements 1 1 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 positions X 1 1 8 Seating X 1 2 Control Systems 1 2 1 Safety and reliability of control systems X 1 2 2 Control devices X 1 2 3 Starting X 1 2 4 Stopping X 1 2 4 1 Normal stop X 1 2 4 2 Operatio...

Page 47: ... 2 2 Interlocking movable 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 3 Energy supply other than electricity X 1 5 4 Errors of fitting X 1 5 5 Extreme temperatures X 1 5 6 Fire X 1 5 7 Explosion X 1 5 8 Noise X 1 5 9 Vibrations X 1 5 10 Radiation ...

Page 48: ...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 and other impact machinery X 2 3 Machinery for working wood and material with similar physical characteristics X 3 Supplementary essential health and safety requirements to offset hazards due to the ...

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