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Assembly and installation

01.00|PW V6 |en

Most important commands

DANGER

Risk of injury by unexpected movements of the ma-
chine/system!

When settings and parameter entries are faulty, components can
move in an uncontrolled manner and cause serious injuries.

• Only specialists or specially trained personnel should carry out

settings and enter parameters.

NOTE

All the examples list only the necessary parameters, not the op-
tional parameters. In the examples, "M" stands for master and "S"
for slave (= product).

NOTE

For more information on the commands, see the

Motion Control

document.

Command code:

0x92

Description:

A reference run is executed.

Parameters:

(Master -> Slave): none.

Response

(Slave -> Master): "OK" (0x4F4B) if successful. The prod-

uct executes the command.

Other:

Spontaneous response possible

Example for REFERENCE

D-Len

Cmd

Param

Meaning

M -> S

0x01

0x92

S -> M

0x03

0x92

0x4F0x4B

Successfully referenced

8.10.4

Reference run

Содержание PW V6

Страница 1: ...Translation of the original manual Servo Electric Rotary Pan Tilt Actuator PW V6 Assembly and Operating Manual Superior Clamping and Gripping...

Страница 2: ...03 2016 en SCHUNK GmbH Co KG All rights reserved Dear customer congratulations on choosing a SCHUNK product By choosing SCHUNK you have opted for the highest precision top quality and best service Yo...

Страница 3: ...11 Disposal 11 2 12 Fundamental dangers 12 2 12 1 Protection during handling and assembly 12 2 12 2 Protection during commissioning and operation 13 2 12 3 Protection against dangerous movements 13 2...

Страница 4: ...8 7 3 Performing initial commissioning 42 8 8 Set the product to its factory settings 44 8 9 Updating firmware 45 8 10 Systemintegration 45 8 10 1 Compatibility 45 8 10 2 System structure 46 8 10 3 SC...

Страница 5: ...ons in this manual are provided for basic understanding of the product and may differ from the actual product design In addition to these instructions the documents listed under 1 2 Page 6 are applica...

Страница 6: ...ments General terms of business Catalog data sheet of the purchased product Assembly and Operating manuals of the accessories Software manual Motion Control The documents marked with an asterisk can b...

Страница 7: ...le as a pressing tool stamping tool lifting gear guide for tools cutting tool clamping device or a drilling tool Any utilization that exceeds or differs from the appropriate use is regarded as misuse...

Страница 8: ...and lubrication intervals 10 1 Page 52 Make sure that the environment is free from splash water and vapors as well as from abrasion or processing dust Exceptions are products that are designed especia...

Страница 9: ...know the relevant standards and regu lations Pneumatics specialists have been trained for this particular area of responsibility and know the relevant standards and regulations Hydraulic specialists h...

Страница 10: ...s and googles when handling hazardous substances Wear tight protective clothing for moving components Notes on safe operation Incorrect manner of working by personnel Working in an incorrect manner ca...

Страница 11: ...in case of malfunctions Immediately remove the product from operation secure it and report the malfunction to the responsible units persons Order appropriately trained personnel to rectify the malfun...

Страница 12: ...during handling and assembly Incorrect handling and assembly Incorrect handling and assembly can make the product unsafe and risk the danger of serious injuries and considerable material damage Order...

Страница 13: ...response of the monitoring function to avert danger Until the installed monitors become effective it must be assumed that the drive movement is faulty with its ac tion being dependent on the control...

Страница 14: ...e switching on the product check whether the protective conductor on all electrical components has been installed cor rectly according to the connection diagram Check whether covers and safety equipme...

Страница 15: ...e makers metal implants metal shards or hearing aids required the consent of a physician before enter ing areas in which motor parts with permanent magnets are stored repaired or assembled Do not oper...

Страница 16: ...n 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 Use suitable protective equipment WARNI...

Страница 17: ...g operation Touching hot surfaces can cause burns Do not touch hot surfaces Let them cool down before working on the product Use suitable protective equipment WARNING Risk of injury from objects falli...

Страница 18: ...ths from the date of delivery from the production facility un der the following conditions Observe the environmental and operating conditions 2 5 Page 8 Observe the mandatory maintenance and lubricati...

Страница 19: ...trol Firmware Manager Assembly and operating manual USB driver Accessories The following accessories which are to be ordered separately are required for the product Hybrid cable Connection cap DMI NOT...

Страница 20: ...600 Max angular velocity s 240 150 Axis 2 Nominal torque Nm 2 0 12 0 Maximum torque Nm 4 0 24 0 Angle of rotation 360 Max acceleration mm s 1440 960 Max angular velocity s 360 240 Electrical operatin...

Страница 21: ...7 Assembly interface for at tachments 4 RS232 interface for Axis 2 Description The product is a Servo electric rotary pan tilt actuator with inte grated electronics and two independently movable axes...

Страница 22: ...3 Motor voltage GND 2 X2 Connection of other prod ucts bus connection 6 LED2 Motor voltage LED 3 LED1 Logic voltage LED 7 X4 Motor voltage 24V 4 SW1 DIP switches for Profibus termination and CAN bus t...

Страница 23: ...termination Sets the terminating resistor for the CAN bus SW2 Marking Function S1 boot Sets firmware to Boot mode only for servicing purposes New firmware can be loaded onto the product S2 Default Res...

Страница 24: ...n DIP switch must be in the OFF position LED LED Color Designation Function 1 Green Logic voltage Indicates whether the logic voltage is connected Lights up as long as voltage is present in the produc...

Страница 25: ...cal connection The values apply to the whole bolting surface Requirements for levelness of the bolting surface Dimensions in mm Diameter Permissible unevenness 100 0 02 100 0 05 Choose the installatio...

Страница 26: ...nt Depth of engagement and tightening torque Mounting material provided by the customer Designation PW V6 70 PW V6 90 Base plate Axis 2 Base plate Axis 2 Centering sleeve 6 6 8 8 Mounting screws M4 M4...

Страница 27: ...nnection can cause damage to the internal electronics Observe the pin assignment of the connecting terminals Make sure that all components are grounded correctly NOTICE Damage through regenerative ene...

Страница 28: ...cable or the plug Pull out the M5 plug before starting up the product NOTE The characteristics of the RS232 interface make it unsuitable for use as a field bus system Use the RS232 interface as a para...

Страница 29: ...Assembly and installation 01 00 PW V6 en 29 CAN bus interface CAN bus circuit diagram 8 2 2...

Страница 30: ...SCHUNK cable color CAN bus interface CAN_H White CAN_L Red FE Functional earth optio nal Assignments of the terminal strip X1 and the energy supply Cable 2 Connection Terminal SCHUNK cable color Logic...

Страница 31: ...Assembly and installation 01 00 PW V6 en 31 Interface Profibus DP Profibus DP circuit diagram 8 2 3...

Страница 32: ...HUNK cable color Profibus DP interface PB_A Green PB_B Red FE Functional earth optio nal Assignments of the terminal strip X1 and the energy supply Cable 2 Connection Terminal SCHUNK cable color Logic...

Страница 33: ...he ma chine system 8 4 Page 34 4 Position the connection cap on the product and tighten the screws Tightening torque 3 Nm 5 Mount connection cap 8 5 Page 35 6 Connect cable for CAN bus 8 2 2 Page 29 7...

Страница 34: ...n the threaded hole identi fied by the ground marking If there no such threaded hole availa ble mount the ground cable on another unused threaded hole on the product NOTE Do not mount the ground cable...

Страница 35: ...r board 1 Unfasten the screws 5 from the cover 4 of the connection cap 2 and remove the cover 4 2 Unscrew the blind plugs 1 from the cover 4 or the connec tion cap 2 3 Pull the connection cable throug...

Страница 36: ...idual wires remain visible 10 Screw the metric cable fitting 6 to the cover 4 or the con nection cap 2 11 Place the cover 4 on the connection cap 2 and screw it tight Combination of multiple products...

Страница 37: ...DVD or di rectly on the computer To open the Motion Tool Schunk MTS di rectly on the computer you must copy the MTS folder to a direc tory of your choice on the computer NOTICE Motion Tool Schunk MTS...

Страница 38: ...via mts exe 8 7 2 Page 39 3 Perform initial commissioning via Motion Tool Schunk MTS 8 7 3 Page 42 Connect the product to the computer Procedure for Windows 7 1 RS232 interface for tilt axis 2 RS232...

Страница 39: ...n Tool Schunk MTS Procedure for Windows 7 The computer is connected to the product via the RS232 inter face 1 Open Motion Tool Schunk MTS by using mts exe The program window is displayed 2 Go to Setti...

Страница 40: ...llation 40 01 00 PW V6 en The Open Communication window appears 3 Select the Serial Generic interface and the customer specific channel set the baud rate and press the Select button 4 Go to Module and...

Страница 41: ...and communication is established with the product that is found The product window is displayed NOTE In the product window you can view the status of the product change parameters and test Schunk Mot...

Страница 42: ...d on the left side of the prod uct window The most important SMP commands can be selected on the right side of the product window All other possible SMP commands can be found under the Module menu opt...

Страница 43: ...Assembly and installation 01 00 PW V6 en 43 4 To set parameters select the Parameters option...

Страница 44: ...Axis 2 Interface RS232 RS232 Baud rate 9600 9600 Address 13 14 1 Disconnect the product from the power supply 2 Unscrew the cover of the connection cap 3 Switch Default DIP switch 2 to ON position 4...

Страница 45: ...e same or that MTS must have the same or higher designation than SMP within one version If the MTS version and the SMP version are not the same the prod uct may end up in an undefined status during pa...

Страница 46: ...tem structure System structure The data is transferred in Intel Little Endian format NOTE The number of products connected depends on which bus system is used A maximum of 255 IDs can be assigned see...

Страница 47: ...wed by the command code consist ing of one byte If necessary the command code is followed by the relevant parameters that are required If required a master command can be extended with a sub command A...

Страница 48: ...NOTE All the examples list only the necessary parameters not the op tional parameters In the examples M stands for master and S for slave product NOTE For more information on the commands see the Mot...

Страница 49: ...lier Example for MOVE POS D Len Cmd Param Meaning M S 0x05 0xB0 0x00 0x00 0x20 0x41 Move to position 10 0 mm S M 0x05 0xB0 0xCD 0xCC 0x04 0x41 Will reach position in 8 3 sec Command code 0xB5 Descript...

Страница 50: ...ely The motor phases are short circuited Parameters Master Slave none Response Slave Master Error message ERROR EMERGENCY STOP is triggered Other Can only be reset by CMD ACK Example for CMD EMERGENCY...

Страница 51: ...2 The module s motor is not turning Possible cause Corrective action No voltage connected Check power supply Insufficient voltage Check power supply 6 Page 20 Product stops abruptly If the delivered G...

Страница 52: ...t use water or liquid cleaners re move all coarse dirt and chips from the cavities in the product Check for damage and replace the product if necessary Any repair work on the product may only be carri...

Страница 53: ...electric rotary pan tilt actuator PW V6 elektric ID number 0307330 0307332 0307333 The incomplete machine may not be put into operation until conformity of the machine into which the incomplete machin...

Страница 54: ...Notes 54 01 00 PW V6 en Notes...

Страница 55: ...Notes 01 00 PW V6 en 55 Notes...

Страница 56: ...Notes 56 01 00 PW V6 en Notes...

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