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Translation of the original manual

Assembly and Operating Manual
WSG 25

Servo-electric 2-finger parallel gripper

Содержание WSG 25

Страница 1: ...Translation of the original manual Assembly and Operating Manual WSG 25 Servo electric 2 finger parallel gripper...

Страница 2: ...rations for the purpose of technical improvement Document number 389684 Version 05 00 25 06 2019 en SCHUNK GmbH Co KG All rights reserved Dear Customer thank you for trusting our products and our fami...

Страница 3: ...er fingers 8 2 7 Environmental and operating conditions 8 2 8 Personnel qualification 9 2 9 Personal protective equipment 9 2 10 Notes on safe operation 10 2 11 Transport 10 2 12 Malfunctions 10 2 13...

Страница 4: ...to be gripped and monitoring the gripping 37 7 8 Software limit switch 39 7 9 Fast stops requiring acknowledgment 41 7 10 Log memory 42 7 11 Thermal monitoring 42 7 12 Monitoring the motor current 43...

Страница 5: ...s 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 documen...

Страница 6: ...under the following conditions Observe the specified maintenance and lubrication intervals Observe the ambient conditions and operating conditions Parts touching the workpiece and wear parts are not...

Страница 7: ...in a machine 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 wi...

Страница 8: ...es the risk of serious injuries and significant property damage Arrange the gripper fingers in a way that the product reaches either the position open or closed in a de energized state Only exchange t...

Страница 9: ...ed tasks recognize and avoid possible dangers and knows the relevant standards and regulations Instructed person Instructed persons were instructed by the operator about the delegated tasks and possib...

Страница 10: ...evention and environmental protection regulations regarding the product s application field 2 11 Transport Handling during transport Incorrect handling during transport may impair the product s safety...

Страница 11: ...nents for recycling or proper disposal 2 14 Fundamental dangers General Observe safety distances Never deactivate safety devices Before commissioning the product take appropriate protective measures t...

Страница 12: ...s Serious injury could occur during the base jaw procedure and when breaking or loosening the gripper fingers Wear suitable protective equipment Do not reach into the open mechanism or the movement ar...

Страница 13: ...Technical data 05 00 WSG 25 Assembly and Operating Manual en 389684 13 3 Technical data 3 1 Outer dimensions Base jaws opened Finger side Flange side Outer dimensions...

Страница 14: ...s finger length 40 mm steel on steel Max Gripping force N 20 gripping speed 50 mm s finger length 40 mm steel on steel Weight kg 0 32 Recommended workpiece weight kg 0 2 Max permissible finger length...

Страница 15: ...25 Assembly and Operating Manual en 389684 15 finger length Determining the clamping height Acceleration 5 000 mm s Finger position mm Gripping speed mm s Acceleration performance at gripping force 20...

Страница 16: ...Fz N max 30 Mx Nm max 0 55 My N max 0 55 Mz N max 0 3 Finger load 3 2 2 Gripping force The gripping force of the product is factory calibrated The actual gripping force depends on the gripping speed a...

Страница 17: ...rtaining the nominal gripping force To determine the nominal gripping force the product is non positively mounted to an aluminum plate see following figure The plate itself is thermally insulated from...

Страница 18: ...Value Note Clamping voltage V DC Min Typ Max 22 24 28 Current drawn when idled A 0 1 Current drawn when holding A 0 4 Gripping force 20N Positioning resolution m 1 09 Controller integrated Field bus...

Страница 19: ...d configuration and diagnosics The Ehternet interface is galvanically isolated 5 ENET TD View of device connection plug Shielding plate Shield 6 5 4 3 2 1 ENET RD ENET TD 24 V GND ENET TD ENET RD Blac...

Страница 20: ...currently also supports the following network services DHCP dynamic IP addresses SNTP network time HTTP web user interface and DNS resolution of host names Interface specification Parameter Value Not...

Страница 21: ...ng condition 3 Plug connector for power supply an Ethernet 4 Name plate 4 2 Description The product is a servo elelctric gripper for small components It has an integrated control unit supporting the I...

Страница 22: ...om live parts 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 serious injuries...

Страница 23: ...tant gripping force The surfaces which are screwed together must be capable of dissipating the resulting heat NOTICE Risk of overheating Please ensure that the thermal coupling is good especially if t...

Страница 24: ...4 05 00 WSG 25 Assembly and Operating Manual en 389684 closed 0 open 64 Finger side Flange side NOTICE Material damage due to inadmissible tightening torque Observe the maximum tightening torque Screw...

Страница 25: ...3 The lower end of the screw mustn t reach out of the base jaw to prevent damage to the housing Pins can be used to determine the exact position and orientation Gripper finger Screw M3 Pin 2 mm Base j...

Страница 26: ...oduct s IP address is factory set to a static value of 192 168 1 20 Should you wish to operate several products in the same network and or if this address is already in use then you will have to chang...

Страница 27: ...quickly blue This signals that the product is booting After about 15 seconds the indicator will slowly flash white The product is ready for use On your computer open the Internet browser and enter th...

Страница 28: ...o execute movement commands Other steps which you should take during the commissioning Call up the Diagnostics System State page to check the product s supply voltage On the Settings Command Interface...

Страница 29: ...g the network configuration you will have to restart the product To use addresses dynamically assigned via DHCP check the corresponding box In this case the product will automatically take its network...

Страница 30: ...e data memory This cannot be changed by the user The memory chip contains the following data The software needed to operate the product Configuration data Documentation and software tools can be calle...

Страница 31: ...ing software The product loads the firmware and prepares for the launch Blue constantly on There was an error loading the operating software The boot process is automatically restarted Red for about 5...

Страница 32: ...Error carrying out a command An error has occurred while receiving or executing a command Red pulses once Critical fault An error has occurred e g excess temperature loss of communication etc The erro...

Страница 33: ...ead out via the command interface command Get System State 40h or the web interface The following illustration shows the display of the status word via the side bar of the web interface The status wor...

Страница 34: ...force The monitoring of the gripped part has been activated PART LOST A part has been lost The pre configured gripping force can no longer be applied presumably because the part to be gripped has bee...

Страница 35: ...e positioning command Position reached Gripping command No part detected at given width and within clamping range Part detected and grasping force established Part was lost removed while holding Relea...

Страница 36: ...the block and saves the measured position as a reference value To offer maximum flexibility a reference run both inwards and outwards is possible In the latter case a factory calibrated value is used...

Страница 37: ...towards one another Clamping travel Clamping Travel If a part to be gripped has been detected the product will attempt to apply the required gripping force by moving the fingers within this range This...

Страница 38: ...lubrication In the case of long term short travel it is possible to dry the product Every 1000 movements or at least once per day the product should be moved through its full range of travel NOTE For...

Страница 39: ...witches have been activated then positioning commands to move fingers into this range will return a range error and the command will not be executed There is also protection against exceeding the rang...

Страница 40: ...safety function as understood by the machine directive NOTICE The software limit switches always refer to the reference position on the base jaws Attachments on the base jaws or on the gripper are no...

Страница 41: ...the product performs a fast stop the drive is switched to a de energized state and the referencing is preserved The acknowledgment can be made both via the command interface command Acknowledging a FA...

Страница 42: ...can be checked both via the web interface as well as the command interface If the temperature measured exceeds the limit of 65 C then a temperature warning will be issued From a housing temperature of...

Страница 43: ...be displayed The current error must be acknowledged This can either be done via the web interface or via the command interface using the Fast Stop Acknowledge command Current errors are recorded in th...

Страница 44: ...he system s status word and the status indicator will show the error state Hysteresis is used to prevent the states chattering to and fro If there is a voltage error the power output stage will be swi...

Страница 45: ...ion user interface open a browser and enter the product s IP address on delivery this is 192 168 1 20 into the browser s address line Entering the IP address to start web based configuration The follo...

Страница 46: ...Operating Manual en 389684 Web interface for configuration and diagnosis Via integrated help texts the product s web interface is intuitive to use In the upper area you will find a menu bar via which...

Страница 47: ...activate access restrictions for the interface and create users with differing access rights Login screen If this is activated each user must be identified with a login name and personal password Eve...

Страница 48: ...rface You will find a detailed description of the commands and parameters in the WSG Command Set Reference Manual Preparatory work Adjust the Clamping Travel and Part Width Tolerance to the applicatio...

Страница 49: ...cation but in general requires the user to do something The following section gives some hints Does the returned status code differ from E_SUCCESS Evaluate the returned status code and eventually requ...

Страница 50: ...ding Use in a vacuum Very dynamic operation The effect of foreign substances e g steam acids etc Clean the product at regular intervals with a dry cloth to remove all soiling and metal chips These typ...

Страница 51: ...nts on power supply Communication not possible Check the connections and communications cables Check interface addressing e g IP address and Port settings Check the connection parameters Error message...

Страница 52: ...No connection to the web interface Possible cause Corrective action Supply voltage is not connected Check the power supply Communication not possible Check the connections and communications cables C...

Страница 53: ...vo electric 2 finger parallel gripper WSG 25 electric ID number 0306170 The partly completed machine may not be put into operation until conformity of the machine into which the partly completed machi...

Страница 54: ...iples 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...

Страница 55: ...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 56: ...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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