Translation of the original manual
Assembly and Operating ManualFMS
Force measuring system
Page 1: ...Translation of the original manual Assembly and Operating Manual FMS Force measuring system ...
Page 2: ...ations for the purpose of technical improvement Document number 389074 Version 02 00 10 07 2019 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 challeng...
Page 3: ... 6 2 5 Environmental and operating conditions 6 2 6 Personnel qualification 7 2 7 Notes on particular risks 7 3 Technical data 8 4 Function description and application examples 10 4 1 Functional description 10 4 2 Application example 12 5 Assembly 13 5 1 Mechanical installation of the measuring system 13 5 2 Electrical installation of the measuring system 15 6 Operation 16 6 1 Preparing for commis...
Page 4: ...n 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 cause irreversible injury or death WARNING Dangers for persons Non observance can lead to irreversible injury and even death CAUTION Dangers for persons Non observance can cause minor injuries NOTICE Material damage Information about avoi...
Page 5: ...3 Scope of delivery The scope of delivery includes Force measuring system FMS in the ordered model Electronic processor FMS A1 Active force measuring jaw FMS ZBA Passive intermediate jaw FMS ZBP Cable from the electronic processor to the force torque sensor system controller Depending on the force measuring adapter used the appropriate electronic processor must be connected FMS Adapter type Electr...
Page 6: ...y devices can impair the functioning or safety of the product or damage it Structural changes should only be made with the written approval of SCHUNK 2 4 Spare parts 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 2 5 Environmental and operating condi...
Page 7: ... 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 possible dangers and knows the relevant standards and regulations Instructed person Instructed persons were instructed by the operator about the delegated tasks and possible danger...
Page 8: ...Accuracy 3 for ID 301 810 5 for ID 301 811 Weight kg 0 38 IP rating 67 with inserted plug connector and closed cover The output voltage is linear to the forces occurring at the gripper fingers The bandwidth of the output signal is not fully used by each active intermediate jaw Before measuring a zero adjustment must be carried out More technical data is included in the catalog data sheet Whichever...
Page 9: ...125 PZN plus 125 30 FMS ZBA PGN plus 160 PZN plus 160 36 1600 3200 FMS ZBP PGN plus 160 PZN plus 160 36 FMS ZBA PGN plus 200 PZN plus 200 40 2325 4650 FMS ZBP PGN plus 200 PZN plus 200 40 FMS ZBA PGN plus 240 PZN plus 240 46 on request on request FMS ZBP PGN plus 240 PZN plus 240 46 FMS ZBA PGN plus 300 PZN plus 300 53 5150 10300 FMS ZBP PGN plus 300 PZN plus 300 53 FMS ZBA PGN plus 380 64 on requ...
Page 10: ...fore generally only the gripping forces which are measured By means of the force torque sensor system controller the DMS small signal is amplified and output to a voltage level proportional to the gripping force When this is done a positive value indicates a force acting from the center of the gripper on the finger e g a workpiece between the gripper fingers while a negative value indicates an ext...
Page 11: ...d at a distance to the base jaw of 75 mm using an FMS 100 Formula from the data sheet m 75 mm Factor distance mm basic pitch m 75 mm 0 00307 75 2 49 m 75 mm 2 26 The measured value of the output voltage is Ua 1100 mV The gripping force is then calculated F 487 N At a distance of 75 mm and the measured output voltage the gripping force is 487 N ...
Page 12: ...g force control Monitoring the gripping force as the jaws close prevents the workpiece from being dropped when movement initiates Overload protection by monitoring the maximum permissible force which can for instance be triggered by an unintended increase in pressure off center gripping or incorrect positioning of the workpiece Preventive servicing by changing grippers in good time when there is a...
Page 13: ...ounting the intermediate jaws on the base jaws of the gripper Ø Fasten the gripper fingers to the intermediate jaws The drilling pattern of the intermediate jaws corresponds to that of the base jaws This way the gripper fingers can be mounted on the intermediate jaw as well as on the base jaw Ø Fasten the electronic processor using two M4 screws The distance from the electronic processor to the fo...
Page 14: ...nsions of the FMS ZBA P intermediate jaws for PGN plus 100 and PZN plus 100 1 Active intermediate jaws 4 Passive intermediate jaws 2 Sleeve Ø 10f7 2x each for finger connection 5 for bore hole Ø10H7 3 Sleeve Ø 10f7 2x each for gripper connection 6 for bore hole Ø10H7 ...
Page 15: ...rnating torsion The specified bending radii must be observed With correct installation the cable has a lifetime of 9 million cycles Connecting the electronic processor to a controller The extension cable type FMS AKx should be used for this purpose red dot The device socket is of the type ODU Mini Snap size 0 6 pin Electrical interface for higher level control unit Wire colors in the cable Pin in ...
Page 16: ...jaws and fingers were tightened For very precise measuring values the measuring system must be recalibrated For the calibration of the measuring system two measured values are needed Since the ratio of the output voltage to the gripping force is linear a pitch can be determined on the basis of these two measured values which very accurately correspond to the specific system design Determining the ...
Page 17: ... with two force measuring jaws A zero adjustment is performed with both FMS A1 A2 units The clamped workpiece is gripped Now the gripper is moved by the robot using the smallest possible steps until the values of both force measuring jaws are identical This position is the best gripping position Static gripping force control In the system the zero adjustment and the gripping are carried out and th...
Page 18: ...being closed with an inserted reference part a dimensionally accurate workpiece is touched by the gripper fingers with exactly 0 N Weight checking The gripper grips the workpiece and the gripper is rotated so that the measuring jaw is on top Perform a zero adjustment with the system Swing the gripper 180 and read the measured value This value only changes depending on the weight of the workpiece T...
Page 19: ...rces are largely hidden The measured value fluctuates slightly The air supply is not uniform Ensure constant pressure Vibrations or external forces are occurring Hold the gripper steady The measured value flows Determined by the system When forces are constantly present there is a slight flow of the material particularly in the upper part of the measurement range This effect can be seen in the out...
Page 20: ...aintenance and care The force measuring system is maintenance free Unless otherwise specified secure all screws and nuts with Loctite no 243 and tighten with the appropriate tightening torque Any contact of drilling fluids with the measuring intermediate jaw ought to be avoided ...
