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Functional description

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02.00 | PG-plus 70 | Assembly- and Operating Manual | en | 389738

7 Functional description

The product is controlled via the CAN bus interface during opera-
tion.

NOTICE

Danger of damage to the product!

The service interface is not designed to operate the product. Op-
erating via the service interface may cause damage to the
product.

•

Only use the service interface to configure the product.

The USB port is only to be used as a service interface for the fol-
lowing functions:
• Parameterization of the rotary module
• Updating firmware
• Error diagnostics

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Summary of Contents for PG-plus 70

Page 1: ...Translation of the original manual Assembly and Operating Manual PG plus 70 Servo electric 2 finger parallel gripper ...

Page 2: ...lterations for the purpose of technical improvement Document number 389738 Version 02 00 22 10 2018 en SCHUNK GmbH Co KG All rights reserved Dear Customer thank you for trusting our products and our family owned company the leading techno logy 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 cha...

Page 3: ...ons 8 2 7 Personnel qualification 8 2 8 Personal protective equipment 9 2 9 Notes on safe operation 10 2 10 Transport 10 2 11 Malfunctions 10 2 12 Disposal 10 2 13 Fundamental dangers 11 2 13 1 Protection during handling and assembly 11 2 13 2 Protection during commissioning and operation 11 2 13 3 Protection against dangerous movements 12 2 13 4 Protection against electric shock 12 2 13 5 Protect...

Page 4: ...re 27 7 Functional description 28 8 Troubleshooting 29 8 1 Communication interrupted 29 8 2 Product is not reacting not moving or stops suddenly 29 8 3 Unusual noise during operation 29 8 4 Product does not execute a complete stroke 29 8 5 Product moves sluggishly or jerks 29 9 Maintenance cleaning and repair 30 9 1 Maintenance 30 9 2 Cleaning 30 9 3 Repair 30 10 Translation of original declaratio...

Page 5: ... this 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 Ap plicable 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 inevita...

Page 6: ...he warranty is valid for 24 months from the ex works delivery date under the following con ditions Observe the ambient conditions and operating conditions Basic data 16 Parts touching the workpiece and wear parts are not included in the warranty 1 3 Scope of delivery The scope of delivery includes Servo electric 2 finger parallel gripper Product CD with documentation Software Assembly and Operatin...

Page 7: ...ted information contained in the Electrical equip ment of machines standard DIN EN 60204 must be ob served Commissioning is only permitted in compliance with EMC directives 2014 30 EU When implementing and operating components in safety re lated parts of the control systems the basic safety principles in accordance with DIN EN ISO 13849 2 apply The proven safety principles in accordance with DIN E...

Page 8: ...state Only exchange the gripper fingers when no residual energy re mains in the product Make sure that the product and the top jaws are a sufficient size for the application 2 6 Environmental 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 materi...

Page 9: ...o its technical training knowledge and experience service personnel of the manufacturer is able to perform the delegated tasks and to recognize and avoid possible dangers 2 8 Personal protective equipment Use of personal protective equipment Personal protective equipment serves to protect staff against danger which may interfere with their health or safety at work When working on and with the prod...

Page 10: ...orrect handling during transport may impair the product s safety and cause serious injuries and considerable material damage When handling heavy weights use lifting equipment to lift the product and transport it by appropriate means Secure the product against falling during transportation and handling Stand clear of suspended loads 2 11 Malfunctions Behavior in case of malfunctions Immediately rem...

Page 11: ...r the product s safety and cause serious injuries and considerable material damage Have all work carried out by appropriately qualified personnel For all work secure the product against accidental operation Observe the relevant accident prevention rules Use suitable assembly and transport equipment and take pre cautions to prevent jamming and crushing Incorrect lifting of loads Falling loads may c...

Page 12: ...must be easily and quickly accessible Before starting up the machine or automated system check that the EMERGENCY STOP system is working Prevent operation of the ma chine if this protective equipment does not function correctly 2 13 4 Protection against electric shock Work on electrical equipment Touching live parts may result in death Work on the electrical equipment may only be carried out by qu...

Page 13: ...es Persons with pace makers metal implants metal shards or hearing aids require the consent of a physician before entering areas in which components of the electric drive and control sys tems are mounted started up and operated Persons 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...

Page 14: ...oads can cause serious injuries and even death 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 prote...

Page 15: ...te the product within the specifications defined at all times WARNING In case of product malfunction risk of injury due to sudden movements Electrical devices are not generally protected against failure Therefore the user is responsible for ensuring that the machine is brought into a safe state in case of product malfunction WARNING Risk of injury due to sudden movements in case of electrical malf...

Page 16: ... data Ident number 31001294 Recommended maximum stroke per finger mm 30 Gripping force N min max 30 200 Nominal gripping force N 160 Recommended workpiece weight kg 1 0 Max permissible finger length at nominal force mm 140 Repeatability mm 0 05 Max permissible speed mm s 82 Max acceleration mm s 328 Weight kg 1 2 Environmental and operating conditions Ambient temperature C min max 5 55 IP protecti...

Page 17: ...24 10 Voltage supply power VDC stabilized and smoothed internal reverse polarity protection Maximum current consumption logic A Maximum current consumption power from power supply unit A 24 10 0 5 1 8 Control electronics Power supply VDC 24 0 Nominal power current A 0 5 Sensor system Encoder Interfaces CAN bus Protocoll CANopen DS 402 USB service inter face 3 4 Name plate The name plate is located...

Page 18: ...lightweight arm or to another application is carried out via the SCHUNK flat change system FWS115 Accessories 6 The 2 finger parallel gripper is suitable for mobile applications due to its design and low energy consumption A brushless DC servomotor drives both of the gripper base jaws An integrated permanent magnet brake for holding the position of the drive blocks the motor shaft when actuated by...

Page 19: ... the flat change system A service interface with USB port and three micro switches is found under a screwed on cover The 2 finger parallel gripper is controlled via a CAN bus interface with CANopen protocol During installation or servicing the configuration of the 2 finger parallel gripper can be adjusted using the MTS software Motion Tool SCHUNK Defined settings are secured by multiple levels of ...

Page 20: ...nge system with spring contacts The 2 finger parallel gripper has two separate inputs of 24 VDC each for motor and logic voltage Electrical connection is made at the circuit board of the FWK115 flat change system For the supply of power a sufficiently dimensioned power supply unit must be used Make sure the dimensions of the cable cross section are adequate when cabling ...

Page 21: ...se from the lightweight arm Mount the flat change system properly Tighten the lateral cylindrical screw to the clamping ring with an Allen key and sufficient torque Using the flat change system the gripper can be mounted on a lightweight arm FWS flat change system 1 FWK head input side 6 FWA adapter output side 2 Clamping ring 7 JST socket 3 Soldering surface 24 V UMotor 8 GND UMotor soldering sur...

Page 22: ...arm so that the centering pin aligns with the bore hole Ø Secure the clamping ring with the lateral cylindrical screw CAUTION Risk of injury due to incorrect electrical connection Risk of product damage due to faulty electrical connection If the electrical connection is not performed properly a malfunc tion or short circuit may occur The operator is responsible for executing the electrical con nec...

Page 23: ...ion mm Wire color 1 4 not assigned 5 GND Integrated electronics 0 5 Yellow 6 24 V Integrated electronics 0 5 Brown 7 CAN High ERB 0 14 Green 8 CAN Low ERB 0 14 White Soldering surfaces Designation Assignment Recommended cable cross section mm Recommended wire color UM 24 VDC supply 0 5 Red UM GND supply 0 5 Black NOTE The clamps and the two pronged sockets on the adapter board are not used ...

Page 24: ... the drive is in op eration Do not operate on block for a long period of time If the product is mounted on an external device e g lightweight arm the operator is responsible for ensuring the operational safety of this equipment System requirements for commissioning Computer Control software Commissioning is dependent on the control software installed The operator is responsible for adhering to the...

Page 25: ...itch SW2 4 USB port The USB port and the service interface microswitches are installed and protected under screwed on cover Ø Remove two hexagon socket screws from the cover Ø Remove the cover with seal If necessary remove the cover with a suitable tool small screwdriver Ø Adjust the microswitches as desired Ø After adjusting replace the cover with seal Ø Screw two hexagon socket screws into the c...

Page 26: ...ization mode Designation Value Interface SCHUNK USB RS232 SMP SCHUNK MOTION Protocol Baud rate 9600 Module address 12 Only the USB service interface is active immediately after resetting With the configuration and commissioning tool Motion Tool SCHUNK switch the communication type to CANopen or CAN SMP The service interface is equipped with a plug in USB Mini B format Commercial cables for the res...

Page 27: ...Ø Switch on the power supply Ø Connect USB cable to the USB port Ø Install the driver software from the MTS directory during first use Ø Start configuration and commissioning tool Motion Tool SCHUNK and select interface and baud rate Ø Search for the connected rotary module with the F3 key or us ing the menu item Search Module Bus A separate window is displayed for each drive Ø Open parameter page...

Page 28: ...OTICE Danger of damage to the product The service interface is not designed to operate the product Op erating via the service interface may cause damage to the product Only use the service interface to configure the product The USB port is only to be used as a service interface for the fol lowing functions Parameterization of the rotary module Updating firmware Error diagnostics ...

Page 29: ...e cause Corrective action The power supply for the drive or the electronic control unit has malfunctioned Check the power supply Communication has been con nected incorrectly Check the signal communication lines Supply cable is defective Check supply cables for damage replace if necessary 8 3 Unusual noise during operation Possible cause Corrective action Mechanical damage Send the product to SCHU...

Page 30: ...ble Do not use steam coolant or high pressure cleaners Do not allow the cleaning agent to penetrate into electrical or mechanical equipment 9 3 Repair NOTICE Risk of damage due to improper use of the product The mechanics and internal electronics may become damaged when disassembling the product The product may only be disassembled and repaired by SCHUNK The components of the product are adapted t...

Page 31: ...Servo electric 2 finger parallel gripper PG plus 70 ID number 31001294 The partly completed machine may not be put into operation until conformity of the ma chine 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...

Page 32: ...ents 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 Operationa...

Page 33: ...ocking 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 X 1 5 11 Ex...

Page 34: ...safety requirements 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 charac teristics X 3 Supplementary essential health and safety requirements to offset haz ards...

Page 35: ...Notes 02 00 PG plus 70 Assembly and Operating Manual en 389738 35 Notes ...

Page 36: ...36 02 00 PG plus 70 Assembly and Operating Manual en 389738 ...

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