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Table of Contents

5.3

Adjusting the sensor...........................................................................................  22
5.3.1

Setting the position sensor..................................................................... 22

5.3.2

Setting the gyro sensor........................................................................... 23

6

Operation ............................................................................................................... 28

7

Troubleshooting ..................................................................................................... 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 .............................................................................................  33

9

EC declaration of incorporation............................................................................... 34

10 Annex to Declaration of Incorporation .................................................................... 35

4

01.00 | PCFC | Assembly and Operating Manual | en | 1454631

Содержание PCFC

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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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Страница 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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