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Start-up

48

01.00 | ID 1392477 or 1403607 | Assembly and Operating Manual | en | 1405195

6.6.1.2 EGL Position

Ø

In the input field, enter the desired position for the gripper.

Ø

Select the "Test" button.

✓

The gripper moves to the desired position.

NOTE

This command is not intended for gripping components.

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Содержание EOA-UR3510-EGL90

Страница 1: ...Translation of Original Operating Manual Assembly and Operating Manual ID 1392477 or 1403607 GrippingUnit EOA UR3510 EGL90orEOA UR3510 EGL90 AUB...

Страница 2: ...ke alterations for the purpose of technical improvement Document number 1405195 Version 01 00 14 08 2019 en SCHUNK GmbH Co KG All rights reserved Dear Customer thank you for trusting our products and...

Страница 3: ...n 12 2 9 Transport 13 2 10 Malfunctions 13 2 11 Disposal 13 2 12 Fundamental dangers 14 2 12 1 Protection during handling and assembly 14 2 12 2 Protection during commissioning and operation 15 2 12 3...

Страница 4: ...guring the gripper 42 6 6 Creating the robot program 44 6 6 1 Selecting and configuring commands 45 6 7 Monitoring the gripper status 53 7 Trouble shooting 56 7 1 Communication malfunction 56 7 2 Prod...

Страница 5: ...s in 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 Applicable...

Страница 6: ...ol SCHUNK Annex 2 SCHUNK Drive Protocol SDP software manual Annex 3 Connection diagram Annex 4 Drawing Annex 5 The documents marked with an astrisk can be downloaded on the following homepages schunk...

Страница 7: ...enance and lubrication intervals Observe the ambient conditions and operating conditions Parts touching the workpiece and wear parts are not included in the warranty The warranty does not cover Damage...

Страница 8: ...ed Top jaw set only for EOA UR3510 EGL90 AUB USB stick with URCap and Assembly and Operating Manual Power cable Communication cable USB cable Mini A USB cable Micro B Assembly and Operating Manual EGL...

Страница 9: ...related 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 EN ISO 13849 2 also apply to categorie...

Страница 10: ...er fingers in a way that the product reaches either the position open or closed in a de energized state Only exchange the gripper fingers when no residual energy remains in the product Make sure that...

Страница 11: ...vities related 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 dang...

Страница 12: ...fety goggles when handling hazardous substances Wear close fitting protective clothing and also wear long hair in a hairnet when dealing with moving components 2 8 Notes on safe operation Incorrect ha...

Страница 13: ...ns 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...

Страница 14: ...the product during operation 2 12 1 Protection during handling and assembly Incorrect handling and assembly Incorrect handling and assembly may impair the product s safety and cause serious injuries a...

Страница 15: ...nction to avert danger Until the installed monitors become effective it must be assumed that the drive movement is faulty with its action being dependent on the control unit and the current operating...

Страница 16: ...attention to the actual conditions of the working environment the potential equalisation must be implemented by a specialist electrician according to the applicable regulations The effectiveness of t...

Страница 17: ...G Risk of injury from sharp edges and corners Sharp edges and corners can cause cuts Use suitable protective equipment WARNING Risk of injury due to uncontrolled movements In case of malfunction of se...

Страница 18: ...f workpieces and uncontrolled movement of the product may occur and can cause serious injuries Take checks in the user s program The danger zone must be secured by suitable measures WARNING Risk of in...

Страница 19: ...roduct is operated with the voltage supply of the robot the maximum permitted gripping force is 70 If a gripping force 70 is required or other devices are connected to the voltage supply we recommend...

Страница 20: ...imensions and maximum loads Mx max 20 Nm My max 20 Nm Mz max 20 Nm Fz max 400 N The indicated moments and forces are static values apply for each base jaw and may occur simultaneously My may arise in...

Страница 21: ...ting conditions EOA UR3510 EGL90 AUB EOA UR3510 EGL90 Noise emission dB A 70 IP rating 46 Ambient temperature C Min Max 5 55 For use in dirty ambient conditions e g sprayed water vapors abrasion or pr...

Страница 22: ...de open wire ends Electrical connection 28 3 Base body top jaw prepared for fastening the clamping inserts Installing clamping inserts 33 4 Clamping insert with double prism Installing clamping insert...

Страница 23: ...ating Manual en 1405195 23 4 2 Gripping unit EGL 2 finger parallel gripper EGL using PROFINET variant as an example 1 Finger interface 2 Housing 3 PROFINET socket 4 PROFINET socket 5 Voltage supply co...

Страница 24: ...rting any work on the product Switch off the power supply and secure against restarting Make sure that no residual energy remains in the system NOTE Mount the product so that sufficient heat dissipati...

Страница 25: ...suitable protective clothing WARNING Risk of injury due to unexpected movements If the power supply is switched on or residual energy remains in the system components can move unexpectedly and cause...

Страница 26: ...0 flange 1 Place the upper adapter plate 3 on the ISO flange Take the hexagon socket wrench A F 5 from the accessory kit Fasten the adapter plate 3 to the ISO flange 1 using screws 4 and the hexagon s...

Страница 27: ...rt cylinder pins 3 into the gripping unit Fasten the gripping unit 4 to the adapter plate 1 using screws 1 and the hexagon socket wrench A F 4 Further information contains the assembly drawing on the...

Страница 28: ...rk must be a network of type PELV for power and logic Observe the PIN assignment of the connecting terminals Make sure that all components are grounded correctly 5 2 2 1 Electrical interface Cable out...

Страница 29: ...for voltage supply 1 Logic voltage 24V 2 Logic voltage GND 3 Motor voltage GND 4 Motor voltage 24V 5 2 2 3 PIN allocation for PROFINET PROFINET PROFINET is achieved via two M12 sockets The sockets of...

Страница 30: ...embly and Operating Manual en 1405195 5 2 2 4 Wiring diagram Voltage supply Motor voltage 24V Motor voltage GND Logic voltage 24V Logic voltage GND Profinet IN Shield via connector thread Profinet OUT...

Страница 31: ...force At a gripping force up to 70 the gripper can be connected to the voltage supply of the robot Connection of an external power supply unit via bypass optional for details see the operating manual...

Страница 32: ...ction to an external power supply unit The voltage supply of the EGL can be connected directly to an external power supply unit with 24V DC 3A stabilized and smoothed The SCHUNK range includes an appr...

Страница 33: ...p jaws and two clamping inserts The clamping inserts with gripper pads are installed at the factory The prismatic clamping inserts are supplied Customer specific clamping inserts are also possible 5 3...

Страница 34: ...pads are used to increase the coefficient of friction 85 Gripper open 32 Gripper closed 85 Gripper open 32 Gripper closed Clamping insert with gripper pads with a clamping range of 0 mm to 85 mm To i...

Страница 35: ...ing range is 102 mm to 187 mm 102 Gripper closed 187 Gripper open Clamping insert with gripper pads with a clamping range of 102 mm to 187 mm Clamping inserts with double prism With the prismatic clam...

Страница 36: ...ramming of the SCHUNK gripper EGL 90 in combination with robots from Universal Robots The URCap software is integrated seamlessly into the programming environment of Universal Robots The programming a...

Страница 37: ...stalling the software component NOTE To install the software use the enclosed USB stick Connect the USB stick to the control panel of the robot The USB interface is located at the back Switch on the c...

Страница 38: ...mbly and Operating Manual en 1405195 Select the System button in the left menu A submenu opens Select the URCaps button The already active URCaps are displayed in the left Explorer window Inactive URC...

Страница 39: ...Select the SCHUNK_Gripper_EGL 1 0 0 urcap software component Select the button to install a software component on the control panel Select the Restart button to complete the installation The system r...

Страница 40: ...stem button in the left menu A submenu opens Select the Network button The network settings are displayed in the Explorer window Configure the connection via Static IP Address In the IP Address field...

Страница 41: ...uration data and an image of the product NOTE If no MAC address is displayed select the Update button next to the drop down menu or select the MAC address from the drop down menu Define the IP address...

Страница 42: ...pping forces greater than 70 Components can fall or be ejected during operation Use an external power supply unit for a gripping force 70 Select the Installation button in the header line Select the U...

Страница 43: ...n handling sensitive components or to adapt the gripping force to the integrated power supply unit of the robot control system If the robot control system is connected to the integrated power supply u...

Страница 44: ...window The following commands can be selected and configured for a robot program Command Function EGL Commands Basic functions such as acknowledging errors referencing or triggering a stop command EGL...

Страница 45: ...e selected command appears under Robot Program The input fields for configuring the command are displayed in the Explorer window The current position of the gripper fingers is displayed in the Explore...

Страница 46: ...pper behind closed safety devices e g a protective fence Ensure that the range of motion of the gripper fingers is clear When gripping sensitive components first test the grip with reduced gripping fo...

Страница 47: ...hort circuits the motor phases the position brake is applied with a delay Reference Redetermine the zero point of the gripper coordinate system The gripper moves up to a mechanical stop This stop retu...

Страница 48: ...embly and Operating Manual en 1405195 6 6 1 2 EGL Position In the input field enter the desired position for the gripper Select the Test button The gripper moves to the desired position NOTE This comm...

Страница 49: ...moving and accelerating the robot arm the gripped workpiece may come loose and injure persons or damage objects in its vicinity Use an external power supply unit for a gripping force 70 Configure the...

Страница 50: ...nknown dimensions The gripper moves from the current position in the direction of the maximum position The configured gripping force is applied Grip work piece Gripping of a workpiece with unknown dim...

Страница 51: ...EGL Advanced Motion Control command is used to perform finely adjusted motion profiles NOTE This command is not intended for gripping components NOTE For further information see the documentation of...

Страница 52: ...the parameters are used as an upper limit here The corresponding movement is regulated so that these upper limits are achieved as quickly as possible The movement can be canceled with a Stop command...

Страница 53: ...feedback signal as a variable Select the Advanced button in the left menu A submenu opens Select the Assignment button An assignment appears in the robot program e g Var 1 Specify further details of t...

Страница 54: ...was reached The system returns the value 0 if the specified position was not reached for a position movement or if another movement was triggered eglGraspOK The system returns the value 1 if a grippi...

Страница 55: ...er is not referenced Referencing must be performed after a potential pending error has been acknowledged eglMoveBlocked The system returns the value 1 if a jaw movement was blocked The jaws can be blo...

Страница 56: ...terrupted Check bus cable or USB cable for damage and replace if necessary Values are saved in EEPROM but not activated Restart product after writing OR Before writing stop the product using fast stop...

Страница 57: ...l data 19 Insufficient voltage Power supply fuse triggered Check power supply fuse and replace if necessary Error message pending Eliminate errors and acknowledge error message see the SCHUNK Motion P...

Страница 58: ...dirt and chips from the cavities in the product Inspect the product for damage Replace the product if necessary Have all repair work on the product carried out only by SCHUNK 8 2 Disassembly and asse...

Страница 59: ...wear part w p 3 1325750 PROFINET communication cable torsion compatible 1 V 4 1405098 EGL90 power cable torsion compatible 1 V 6 1405800 Top jaws set incl clamping inserts with gripper pads HKI or dou...

Страница 60: ...ications are made to the product EMC Directive 2014 30 EU Directive of the European Parliament and the Council of February 26 2014 on the harmonization of the laws of the Member States relating to ele...

Страница 61: ...ipping Unit EOA UR3510 EGL90 or EOA UR3510 EGL90 AUB ID 1392477 or 1403607 electric ID number 1392477 1403607 The partly completed machine may not be put into operation until conformity of the machine...

Страница 62: ...es 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 Con...

Страница 63: ...djustable 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...

Страница 64: ...fety 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 Portabl...

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