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Assembly and installation

32

3.00 | PRH | Assembly and Operating Manual | en | 389327

5.3.2 CAN interface

Circuit diagram: PRH CAN bus

Pin allocation S1 (voltage supply)

Pin

Designation

Function

SCHUNK cable
color

1

GND

GND logic supply brown

2

+24 V DC

Logic supply
+24 V DC

white

3

GND+24 V DC
power

GND power
supply

blue

4

+24 V DC power

Power supply
+24 V DC

black

Pin allocation S2 (CAN bus output)

Pin

Designation

Function

SCHUNK cable
color

1

Shield

Shield

2

n.c.

-

3

CAN_GND

CAN_GND

yellow

4

CAN_H

CAN_H

white

5

CAN_L

CAN_L

brown

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Содержание PRH

Страница 1: ...Translation of the original manual Assembly and Operating Manual PRH Servo Electrical Miniature Rotary Unit ...

Страница 2: ...ations for the purpose of technical improvement Document number 389327 Version 3 00 20 02 2019 en SCHUNK GmbH Co KG All rights reserved 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 answer any questions on this product and other solutions Ask us questions and challenge...

Страница 3: ...conditions 11 2 6 Personnel qualification 13 2 7 Personal protective equipment 14 2 8 Notes on safe operation 14 2 9 Transport 15 2 10 Malfunctions 15 2 11 Disposal 15 2 12 Fundamental dangers 15 2 12 1 Protection during handling and assembly 16 2 12 2 Protection during commissioning and operation 16 2 12 3 Protection against dangerous movements 17 2 12 4 Protection against electric shock 18 2 12 ...

Страница 4: ... interface 34 5 3 4 Digital Inputs 36 5 3 5 DEFAULT and BOOT function 39 5 4 Handling after switching on 40 5 5 Endless turning application 40 6 Troubleshooting 41 6 1 Product does not move 41 6 2 Motor does not turn 41 6 3 Product stops abruptly 41 6 4 Reference run not possible 41 7 Maintenance 42 7 1 Maintenance intervals 42 7 2 Disassembly and assembling 42 8 Translation of original declaratio...

Страница 5: ... 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 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 inevitably ca...

Страница 6: ...risk can be downloaded on our homepage schunk com 1 1 3 Sizes This operating manual applies to the following sizes PRH 050 PRH 060 PRH 075 1 2 Warranty If the product is used as intended the warranty is valid for 24 months from the ex works delivery date under the following conditions Observe the specified maintenance and lubrication intervals Observe the ambient conditions and operating condition...

Страница 7: ... Motion Tool MTS configuration and commissioning tool Software manual Motion Control SCHUNK Assembly and Operating Manual USB driver 1 4 Accessories A wide range of accessories are available for this product Schunk service box SSB Schunk V4 distributor Bus connection cable Power supply cable Bus terminators For information regarding which accessory articles can be used with the corresponding produ...

Страница 8: ...achine system The applicable guidelines must be observed and complied with The product is intended for industrial and industry oriented use Appropriate use of the product includes compliance with all instructions in this manual 2 2 Not 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...

Страница 9: ... European market among other requirements The product has passed the EMC test as per the following standards Standard Title EN 61000 6 2 2006 EMC Generic standard Immunity for industrial environments EN 61000 6 3 2011 EMC Generic standard Emission standard for residential and light industrial environments The product must be installed using interference free cables and in a way that meets EMC requ...

Страница 10: ...on on cables and cable shielding as per EN 61000 4 6 Test voltage 10 V with amplitude modulation 80 of 1 kHz in the range of 150 kHz 80 MHz 3 Emission of radio interference Emissions were tested and confirmed as per EN 61000 6 3 Conducted interference emissions Value 0 15 0 5 MHz 0 5 5 MHz 5 30 MHz 66 dB µV quasi peak 56 dB µV average 56dB µV quasi peak 46 dB µV average 60 dB µV quasi peak 50 dB µ...

Страница 11: ...ing 5 g Temperature EN 60068 2 2 70 C Bb test dry heat storage Temperature EN 60068 2 1 40 C Ab test cold storage Thermal shock EN 60068 2 14 40 70 C Na test holding time 3 h 5 cycles Air pressure IEC 60068 2 13 1140 660 hPa Corresponds to a height of 1000 3500 m Operational requirements The following overview shows the permitted ambient conditions for the product Mechanical ambient conditions Sta...

Страница 12: ...suitable measures must be taken to reduce the amplitude or acceleration of such disturbances Vibration damping or vibration absorbing systems are to be used in such cases Tests with regard to ambient conditions Tests with regard to mechanical ambient conditions The following table shows the type and extent of tests that were used to check the product with regard to mechanical ambient conditions Te...

Страница 13: ...lated 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 dangers and know the relevant standards and regulations Qualified personnel Due to its technical training knowledge and experience qualified personnel is able to perform the delegated tasks recognize and avoid pos...

Страница 14: ...les 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 handling of the personnel Incorrect handling and assembly may impair the product s safety and cause serious injuries and considerable material damage Avoid any manner of working that may interfere with the funct...

Страница 15: ...ntil the malfunction has been rectified Test the product after a malfunction to establish whether it still functions properly and no increased risks have arisen 2 11 Disposal Handling of disposal The incorrect handling of disposal may impair the product s safety and cause serious injuries as well as considerable material and environmental harm Follow local regulations on dispatching product compon...

Страница 16: ...ention rules Use suitable assembly and transport equipment and take precautions to prevent jamming and crushing Incorrect lifting of loads Falling loads may cause serious injuries and even death Stand clear of suspended loads and do not step into their swiveling range Never move loads without supervision Do not leave suspended loads unattended 2 12 2 Protection during commissioning and operation F...

Страница 17: ...fective 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 and attachments outside the danger zone defined by the movement range To avoid accidents and or material damage human access to the movement range of the machine must be restricted Limit prevent acci...

Страница 18: ...d to all electrical components according to the wiring diagram Check whether covers and protective devices are fitted to prevent contact with live components Do not touch the product s terminals when the power supply is switched on Possible electrostatic energy Components or assembly groups may become electrostatically charged When the electrostatic charge is touched the discharge may trigger a sh...

Страница 19: ...ns 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 permanent magnets are stored repaired or assembled Do not operate high frequency or radio devices in the proximity of electric components of the drive system and their feed lines If the use of such devices is necessary When starting...

Страница 20: ...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 protective measures to secure the danger zone WARNIN...

Страница 21: ...movement area of the product WARNING Risk of injury from sharp edges and corners Sharp edges and corners can cause cuts Use suitable protective equipment WARNING Risk of injury from objects falling during energy supply failure Electronic devices are not fail safe In case of an energy supply failure the gripping force decreases As a consequence it cannot be guaranteed that the workpiece is held saf...

Страница 22: ...to 80 without condensation Vibration resistance 10 Hz to 400 Hz max 2 5 g DIN IEC 68 Part 2 6 Shock resistance 30 g 11 ms DIN IEC 68 Part 2 27 Lubricant Harmonic Drive grease SK 2 NOTE The values specified in each table refer to an over temperature of the coil of 100 K for an ambient temperature of 40 C The values specified in the following tables apply for the products that are mounted on an alum...

Страница 23: ... V DC 10 4 Ripple 150mVSS Spikes 240mVSS Nominal power current A 0 5 Connection value Number of modules x rated module current x 1 2 Interface USB CAN bus Profibus DP X X X X X X X X X Note a product is supplied either with CAN or with PROFIBUS For use in dirty ambient conditions e g sprayed water vapors abrasion or processing dust SCHUNK offers corresponding product options as standard SCHUNK als...

Страница 24: ...V DC 10 4 Ripple 150mVSS Spikes 240mVSS Nominal power current A 0 5 Connection value Number of modules x rated module current x 1 2 Interface USB CAN bus Profibus DP X X X X X X X X X Note a product is supplied either with CAN or with PROFIBUS For use in dirty ambient conditions e g sprayed water vapors abrasion or processing dust SCHUNK offers corresponding product options as standard SCHUNK also...

Страница 25: ...24 V DC 10 4 Ripple 150mVSS Spikes 240mVSS Nominal power current A 0 5 Connection value Number of modules x rated module current x 1 2 Interface USB CAN bus Profibus DP X X X X X X X X X Note a product is supplied either with CAN or with PROFIBUS For use in dirty ambient conditions e g sprayed water vapors abrasion or processing dust SCHUNK offers corresponding product options as standard SCHUNK a...

Страница 26: ...an increase via the output voltage of the power supply unit The power supply unit used for the power needs to be able to handle this overvoltage and must not switch off its output voltage Otherwise the product for example will stop with the error message ERROR_Motor_Voltage_LOW or ERROR_Motor_Voltage_High which must be acknowledged Supply of the logic and power are to be separate For this reason i...

Страница 27: ...ital inputs or SCHUNK service interface M12 12 pin connected via SCHUNK service box SSB for parameterization via USB or via SCHUNK V4 M8 M12 distributor for connecting sensors of digital PLC outputs 2 Fieldbus outflow M12 5 pin 3 Fieldbus inlet M12 5 pin 4 Connection voltage supply M12 4 pin 5 Electronics housing 6 Drive with gear 7 Mounting flange ...

Страница 28: ...arameters are transferred from the higher level controller master to the internal logic The product carries out a movement Its position is checked constantly The parameters required for this are transmitted by the sensors back to the internal logic The following parameters can be transferred from the overriding control master to the internal logic Current I Speed v Acceleration a Position NOTE All...

Страница 29: ...ries Before starting any work on the product Switch off the power supply and secure against restarting Make sure that no residual energy remains in the system Choose the installation position so that connection cables are not damaged or cannot wrap around the product when swiveling Ø Connect the product to the machine system with screws Use suitable connecting elements adapter plates if necessary ...

Страница 30: ...C D E F G H J K L PRH 050 50 58 48 64 25 5 M3 5 3 4 33 5 49 13 10 PRH 060 60 70 56 64 33 M4 5 4 5 41 59 13 5 10 PRH 075 75 88 66 69 44 M5 7 5 5 52 5 74 18 5 15 5 2 Assembly example Item Designation 1 EVG electrical parallel gripper 2 PRH servo electrical swivel unit 3 SVS VC vision sensor ...

Страница 31: ...mer s premises SCHUNK recommends using a brake chopper forexample Schneider Universal Braking Control UBC60 ACC3EA001 5 3 1 USB parameterization interface The USB communication interface is not suitable due to its field bus system characteristics Only use the USB interface as a parameterization interface The USB connection cable supplied or the optionally available SCHUNK service box SSB is requir...

Страница 32: ... Pin Designation Function SCHUNK cable color 1 GND GND logic supply brown 2 24 V DC Logic supply 24 V DC white 3 GND 24 V DC power GND power supply blue 4 24 V DC power Power supply 24 V DC black Pin allocation S2 CAN bus output Pin Designation Function SCHUNK cable color 1 Shield Shield 2 n c 3 CAN_GND CAN_GND yellow 4 CAN_H CAN_H white 5 CAN_L CAN_L brown ...

Страница 33: ...ignment of 9 pin SUB D socket SUB D socket solder side Pin Function 2 CAN_L 3 CAN_GND 7 CAN_H Terminating a module The CAN bus terminator supplied can be used for termination Ø Screw the CAN bus terminator on S2 if the module is the last bus subscriber Combining several modules When combining several modules the signals from module n are looped through to module n 1 The wires from terminal X2 on m...

Страница 34: ...tion Function SCHUNK cable color 1 GND GND logic supply brown 2 24 V DC Logic supply 24 V DC white 3 GND 24 V DC power GND power supply blue 4 24 V DC power Power supply 24 V DC black Pin allocation S2 PROFIBUS output Pin Designation Function SCHUNK cable color 1 n c 2 A PROFIBUS A green 3 n c 4 B PROFIBUS B red 5 PE Shield not recommend Connector housing PE Shield Cable shield ...

Страница 35: ...PROFIBUS DP assignment of 9 pin SUB D connector SUB D connection plug solder side Pin Function 3 PROFIBUS B 8 PROFIBUS A Terminating a module The CAN bus terminator supplied can be used for termination Ø Screw the CAN bus terminator on S2 if the module is the last bus subscriber Combining several modules When combining several modules the signals from module n are looped through to module n 1 The ...

Страница 36: ...SB supply 7 USBDM USB data minus 8 USBDP USB data plus 9 GND GND logic supply 10 I O4 Digital input 4 11 BOOT Flash mode 12 DEFAULT Default mode The digital inputs can be connected directly to the PRH module using the SCHUNK V4 M8 M12 distributor The distributor has the advantage that it collects all incoming signals and carries them in a cable Furthermore at each of the four M8 connection sockets...

Страница 37: ...n 389327 37 Product photo SCHUNK V4 M8 M12 distributor Contact assignment and wiring diagram SCHUNK V4 M8 M12 distributor NOTE Alternatively a self assembly M12 cable connector can be used to connect the digital inputs to the product Self assembly M12 cable connector ...

Страница 38: ...digital input Assignment of terminal strip X3 Designation Use program Use normal IN0 Release from firmware 1 20 Digital input external reference switch IN1 Digital input IN2 Digital input IN3 Digital input NOTE More information and use possibilities of the connector socket S4 can be found in the configuration tool Motion Tool MTS DVD software handbook Motion Control SCHUNK ...

Страница 39: ...nect SCHUNK USB cable to the product on the 12 pin M12 connector socket S4 Ø Press and hold DEFAULT button Re connect voltage supply DEFAULT values are set on the product Factory settings DEFAULT values 26 When using the SCHUNK service box SSB SCHUNK service box SSB Ø Disconnect the product from the voltage supply Ø Connect SCHUNK service box to the product on the 12 pin M12 connector socket S4 Ø ...

Страница 40: ...re information 5 4 Handling after switching on NOTE Each time the drive is restarted it moves slightly in positive and negative direction approx 1 The is due to the vector search and the Hall sensor scanning Before referencing ensure that the product is not blocked or positioned on end stop 5 5 Endless turning application If in applications more than 10 full revolutions in one direction are to be ...

Страница 41: ...supplied GSD file has been integrated this can be reported by the module using the parameter ERROR_CABLE_BREAK 0x76 Possible cause Corrective action Bus cable fault connection interrupted Check bus cable for damage and replace if necessary Further troubleshooting see document Motion Control SCHUNK 6 4 Reference run not possible Possible cause Corrective action Reference run does not start Referenc...

Страница 42: ...duct if necessary Have all repair work on the product carried out only by SCHUNK The product corresponds to the following protection classes Size 050 060 075 IP protection class IP54 IP65 IP65 7 2 Disassembly and assembling This product must not be disassembled for maintenance NOTICE Material damage due to improper disassembly Incorrect works can cause damage to the mechanics and internal electron...

Страница 43: ...miniature rotary unit PRH electric ID number 0306871 0306896 1367575 1367578 The partly completed machine may not be put into operation until conformity of the machine 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 d...

Страница 44: ...ential Requirements 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...

Страница 45: ...2 2 Interlocking 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...

Страница 46: ...irements 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 characteristics X 3 Supplementary essential health and safety requirements to offset hazards due to the m...

Страница 47: ...3 00 PRH Assembly and Operating Manual en 389327 47 ...

Страница 48: ...Notes 48 3 00 PRH Assembly and Operating Manual en 389327 Notes ...

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