SCHUNK PCFC Assembly And Operating Manual Download Page 1 | Manualshive

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SCHUNK PCFC Assembly And Operating Manual Download Page 1

Translation of Original Operating Manual

Assembly and Operating Manual
PCFC

Passive Compliant Force Control Tool

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Summary of Contents for PCFC

Page 1: ...Translation of Original Operating Manual Assembly and Operating Manual PCFC Passive Compliant Force Control Tool...

Page 2: ...on 01 00 08 03 2021 en 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...

Page 3: ...l protective equipment 9 2 8 Transport 9 2 9 Malfunctions 9 2 10 Disposal 10 2 11 Fundamental dangers 10 2 11 1 Protection during handling and assembly 10 2 11 2 Protection during commissioning and op...

Page 4: ...leshooting 29 7 1 Compliance slide no longer moves 29 7 2 Uneven deburring result 29 8 Maintenance 30 8 1 Notes 30 8 2 Maintenance interval 30 8 3 Recalibrate position sensor 31 8 4 Assembly drawings...

Page 5: ...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 an...

Page 6: ...onths from the ex works delivery date under the following conditions Observe the ambient conditions and operating conditions Parts touching the workpiece and wear parts are not included in the warrant...

Page 7: ...t 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 Inappropriate use...

Page 8: ...he complete assembly and operating manual Observe the national safety regulations and rules and general safety instructions The following personal qualifications are necessary for the various activiti...

Page 9: ...ear long hair in a hairnet when dealing with moving components Wear ear protection and safety goggles during the machining process 2 8 Transport Handling during transport Incorrect handling during tra...

Page 10: ...nergy in the system Do not move parts by hand while the energy supply is connected Do not reach into the movement area of the product during operation 2 11 1 Protection during handling and assembly In...

Page 11: ...tive 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 an...

Page 12: ...ad to serious injury or death Take appropriate protective measures to secure the danger zone WARNING Risk of injury due to unexpected movements If the power supply is switched on or residual energy re...

Page 13: ...nsation air connection Air purge connection 1 4 1 2 Pressure medium Compressed air clean dry filtered 5 m oil free Max moment Mx My Nm 15 Max moment Mz Nm 28 Communication interface Interface RS485 Ba...

Page 14: ...rves shown in the diagram apply to horizontal rigidly mounted installations If the product is used vertically the unit s own weight and the payload influence the force actually applied If the end effe...

Page 15: ...r block 3 LEDs 4 Sensor connection 5 Rear cover plate for attachment to the robot for stationary mounting 6 Compensation air connections 7 Air purge connection 4 2 Description Pneumatic axial compensa...

Page 16: ...g any work on the product Switch off the power supply and secure against restarting Make sure that no residual energy remains in the system 1 Check the evenness of the mounting surface Mechanical conn...

Page 17: ...the product is mounted on the robot or end effector Robot side connection The product can be assembled from two sides Item Mounting PCFC Side A 1 Mounting screw M6 Max tightening torque Nm 10 2 Rear...

Page 18: ...Assembly and installation 18 01 00 PCFC Assembly and Operating Manual en 1454631 End effector connection Item Mounting PCFC 1 Mounting screw M4 Max tightening torque Nm 3 2 Inner slide cover plate...

Page 19: ...a 13 Use a regulator with venting for better regulation of the compressed air 1 Air purge connection 2 Compensation air connection extension 3 Compensation air connection retraction Item Mounting PCFC...

Page 20: ...ir line Extend the compressed air line Distributor Air connection 4 1 bar External regulator 1 4 1 bar External regulator 1 4 1 bar Pneumatic connection diagram for application without gyro sensor PCF...

Page 21: ...V 1 V Power positive 24 20 2 V Power GND Cal 0 3 VO IO Analog output reference 0 4 Cal Trigger signal calibration Impulse 24 20 5 VO IO_REG Analog output for regulator 0 5 V 0 10 V 4 20 mA 6 VO IO_PO...

Page 22: ...ual en 1454631 5 3 Adjusting the sensor 5 3 1 Setting the position sensor The position sensor is preset at the factory Recalibrate the sensor if the product has been disassembled or repaired or if the...

Page 23: ...ompleted 2 Set the regulator on the compensation air connection extend to 0 bar 3 Start calibration via serial interface with the command startcal or via the digital input line pin 4 trigger signal ca...

Page 24: ...an SysVer Output firmware version Set Cal Read out all parameters parameter name Read out all parameters that match the name entered as operand parameter name value Set a new value for the mentioned p...

Page 25: ...is K Filtered value gyro sensor Z axis R Value D A converter position sensor O Value D A converter regulator Position P Raw value Hall effect sensor F Filtered value Hall effect sensor T Temperature C...

Page 26: ...position sensor in end position retracted 0 Uint16 X maxPos Maximum position Value of the position sensor in end position extended 3300 Uint16 X Location Location shows the current physical position W...

Page 27: ...ght gravity compensation calculated from the calibration process 25 X Delay Ramp Calibration ramp delay ms Time in ms until the delay between 1000 steps of the calibration process 10 Uint16 X X DelayM...

Page 28: ...This allows the product to use its flexibility to machine areas evenly despite different initial geometries without losing contact with the workpiece If this is not possible several machining passes m...

Page 29: ...ed air lines Pneumatic connection 19 Regulator defective or not connected Pressure drops below minimum Check air supply Technical data 13 Loading too large Check permissible load Technical data 13 7 2...

Page 30: ...recommends having the product and or accessories checked and repaired by SCHUNK if necessary 8 1 Notes Original spare parts Use only original spare parts of SCHUNK when replacing spare and wear parts...

Page 31: ...face X is the voltage mV which the position sensor reads 5 Move piston by 1 mm 6 Repeat action steps 4 and 5 a further 12 times until the piston has reached the maximum stroke of 12 mm During the last...

Page 32: ...00 PCFC Assembly and Operating Manual en 1454631 Flashing frequency of the LEDs per calibration step CalStep Frequency Hz RED_OUT_TRVL GREEN RED_FULL_ EXTND 0 4 1 2 2 1 33 3 1 4 4 5 2 6 1 33 7 1 8 4...

Page 33: ...Maintenance 8 4 Assembly drawings 33 01 00 PCFC Assembly and Operating Manual en 1454631...

Page 34: ...alled with the provisions of the Machinery Directive 2006 42 EC is confirmed Conformity with the following directives and standards is declared for the product Electromagnetic compatibility EMC direct...

Page 35: ...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 o...

Page 36: ...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 37: ...dstuffs 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...

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Page 40: ...KG Clamping and gripping technology Bahnhofstr 106 134 D 74348 Lauffen Neckar Tel 49 7133 103 0 Fax 49 7133 103 2399 info de schunk com schunk com Folgen Sie uns I Follow us 03 2021 2021 SCHUNK GmbH C...

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