Operation
02.00 | SVH | Assembly and Operating Manual | en | 389734
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6 Operation
The following considerations generally apply to operations:
• When the 5‐finger gripping hand SVH is mounted on an external
device (e.g. external robot arm), the operator is responsible for
ensuring the operational safety of this equipment.
• The fingers (excluding the thumb) can be carefully moved
manually in the event of a failure of the power supply. This will
not damage the drive. The thumb drives are self-locking in a de-
energized state and cannot be manually moved.
• It is possible for the fingers to collide if controlled accordingly.
Collisions will not cause damage, but the movement will be
interrupted.
When developing a customized control program for the 5‐finger
gripping hand, SVH the following information applies.
Note: English is the standard language in the field of software
development. For this reason, English-language terms have been
used in the following:
6.1 Homing
Homing is required after each startup of the SVH due to the
relative angle measurement of the joints.
For homing, SCHUNK recommends using a software end stop just
before the mechanical end stop.
The table below contains the following values:
• direction of homing
• recommended software end stop
• total steps of each movement
• recommended power limit
• recommended movement speed