Afag SE20 User manual

Assembly instructions EN SE20 - SE30 Date 06.09.2021 Version 2.0 1–56
Assembly and operating instructions
Rotational axes
SE20 ISE30
Translation of the Original Assembly Instructions EN
SE20
SE30

2 – 56 Assembly instructions EN SE20 - SE30 Date 06.09.2021 Version 2.0
Dear Customer
Thank you for choosing our products and placing your trust and confidence in
our company!
These assembly and operating instructions contain all essential information you
need about your product. Our aim is to provide the required information as
concisely and clearly as possible. If, however, you still have any questions on
the contents or suggestions, please do not hesitate to contact us. We are always
grateful for any feedback.
Our team will also be glad to answer any further question you may have
regarding the rotational axis or other options.
We wish you every success with our products!
With kind regards
Your Afag team
© Subject to modifications
The rotational axes have been designed by Afag according to the state of the
art. Due to the constant technical development and improvement of our
products, we reserve the right to make technical changes at any time.
Updates of our documentations
Unlike the printed documents, our digital instructions manuals, product data
sheets and catalogues are being continuously updated on our website.
Please keep in mind that the digital documents on our website are always the
latest versions.
© Copyright 2021 Afag Engineering GmbH
All contents of the present assembly and operating instructions, in particular the
texts, photographs and graphics, are protected by copyright. All rights reserved.
No part of these assembly and operating instructions may be reproduced,
distributed (made available to third parties), or transmitted in any form or by any
means, including photocopying, recording, or other electronic or mechanical
methods, without the prior written permission of Afag.
Afag Engineering GmbH
Gewerbestraße 11
DE-78739 Hardt (Germany)
Tel.: [phone]
e-mail: [email protected]
Internet: www.afag.com

Table of contents
Assembly instructions EN SE20 - SE30 Date 06.09.2021 Version 2.0 3–56
Table of contents
1General.................................................................................................................... 6
1.1 Contents and purpose of these assembly instructions................................. 6
1.2 Explanation of symbols................................................................................. 6
1.3 Additional symbols........................................................................................ 7
1.4 Applicable documents .................................................................................. 8
1.5 Warranty ....................................................................................................... 8
1.6 Liability.......................................................................................................... 8
2Safety instructions................................................................................................. 9
2.1 General......................................................................................................... 9
2.2 Intended use................................................................................................. 9
2.3 Foreseeable misuse ..................................................................................... 9
2.4 Obligations of the operator and the personnel ........................................... 10
2.4.1 Observe the assembly instructions ...................................................... 10
2.4.2 Obligations of the operating company.................................................. 10
2.4.3 Obligations of the personnel ................................................................ 11
2.5 Personnel requirements ............................................................................. 11
2.5.1 Personnel qualification ......................................................................... 11
2.6 Personal protective equipment (PPE) ........................................................ 12
2.7 Changes and modifications ........................................................................ 12
2.8 General hazards / residual risks................................................................. 13
2.8.1 General hazards at the workplace ....................................................... 13
2.8.2 Danger due to electricity ...................................................................... 14
2.8.3 Danger due to strong magnetic fields. ................................................. 14
2.8.4 Danger due to high temperatures ........................................................ 14
2.8.5 Mechanical hazards ............................................................................. 15
3Technical data ...................................................................................................... 16
3.1 Rotary axis SE20........................................................................................ 16
3.1.1 Dimensional drawing SE20-2............................................................... 16
3.1.2 Technical data SE20-2......................................................................... 17
3.1.3 Dimensional drawing SE20-4............................................................... 18
3.1.4 Technical data SE20-4......................................................................... 19
3.1.5 Module stresses SE20 ......................................................................... 20
3.2 Rotary axis SE30........................................................................................ 21
3.2.1 Dimensional drawing SE30-2............................................................... 21
3.2.2 Technical data SE30-2......................................................................... 22
3.2.3 Dimensional drawing SE30-4............................................................... 23
3.2.4 Technical data SE30-4......................................................................... 24
3.2.5 Dimensioned drawing SE30-B ............................................................. 25
3.2.6 Technical data SE30-B ........................................................................ 26
3.3 Module stresses SE30................................................................................ 27

Table of contents
4 – 56 Assembly instructions EN SE20 - SE30 Date 06.09.2021 Version 2.0
4Transport, packaging and storage ..................................................................... 28
4.1 Safety instructions for transport.................................................................. 28
4.2 Scope of supply .......................................................................................... 28
4.3 Transport .................................................................................................... 29
4.4 Packaging................................................................................................... 29
4.5 Storage ....................................................................................................... 29
5Design and description ....................................................................................... 30
5.1 Structure rotational axis.............................................................................. 30
5.2 Product description..................................................................................... 30
6Installation, assembly and setting ..................................................................... 31
6.1 Safety instructions for installation and assembly ....................................... 31
6.2 Assembly and attachment .......................................................................... 31
6.2.1 Mounting material................................................................................. 31
6.2.2 Tightening torques................................................................................ 32
6.3 Connection ................................................................................................. 33
6.3.1 Power supplies ..................................................................................... 33
6.3.2 Servo controller .................................................................................... 34
6.3.3 Axis controller C11x0 ........................................................................... 35
6.3.4 Axis controller C12x0 ........................................................................... 37
6.3.5 Motor connector ................................................................................... 39
6.4 Pin assignment (encoder)........................................................................... 40
6.4.1 Round plug on the module.................................................................. 40
6.4.2 SUB-D connector on the controller ...................................................... 40
6.5 Programming .............................................................................................. 41
6.6 Settings....................................................................................................... 41
6.6.1 Speed electric axes.............................................................................. 41
6.6.2 Switching distance - reference sensor for electric axes....................... 42
7Commissioning .................................................................................................... 43
7.1 Safety instructions for commissioning ........................................................ 43
7.2 Commissioning of the modules .................................................................. 43
8Fault elimination................................................................................................... 44
8.1 Safety instructions for troubleshooting ....................................................... 44
8.2 Fault causes and remedy ........................................................................... 44
9Maintenance and repair....................................................................................... 45
9.1 General notes ............................................................................................. 45
9.2 Safety instructions for maintenance and repair.......................................... 45
9.3 Maintenance activities and maintenance intervals..................................... 45
9.3.1 Overview of the maintenance points.................................................... 46
9.3.2 Lubrication............................................................................................ 46
9.3.3 Further maintenance ............................................................................ 47
9.4 Spare parts lists.......................................................................................... 47
9.4.1 Servo controller .................................................................................... 47

Table of contents
Assembly instructions EN SE20 - SE30 Date 06.09.2021 Version 2.0 5–56
9.4.2 Encoder ................................................................................................ 47
9.4.3 Motor cable........................................................................................... 48
9.5 Repair and overhaul ................................................................................... 48
10 Decommissioning, disassembly, disposal........................................................ 49
10.1 Safety instructions for decommissioning and disposal............................... 49
10.2 Decommissioning ....................................................................................... 49
10.3 Disposal...................................................................................................... 49
11 Declaration of incorporation............................................................................... 50

General
6 – 56 Assembly instructions EN SE20 - SE30 Date 06.09.2021 Version 2.0
1 General
1.1 Contents and purpose of these assembly instructions
These assembly instructions contain important information on assembly,
commissioning, functioning and maintenance of the rotational axis SE20 and
SE30 to ensure safe and efficient handling and operation.
Consistent compliance with these assembly instructions will ensure:
permanent operational reliability of the rotational axis,
optimal functioning of the rotational axis,
timely detection and elimination of defects (thereby reducing maintenance
and repair costs),
prolonging of the rotational axis service life.
The illustrations in this manual shall provide you with a basic understanding of
the module and may vary from the actual design of your module.
1.2 Explanation of symbols
The safety notes are marked by a pictogram and a signal word. The safety notes
describe the extent of the hazard.
DANGER
Danger!
This safety note indicates an imminently hazardous situation which, if not
avoided, will result in death or serious injury.
WARNING
Warning!
This safety note points out a potentially hazardous situation which, if not
avoided, could result in death or serious injury.
CAUTION
Caution!
This safety note points out a potentially dangerous situation which, if not
avoided, can result in minor or slight injuries.
NOTICE
This safety note points out a potentially dangerous situation which, if not
avoided, can cause substantial damage to property and the environment.

General
Assembly instructions EN SE20 - SE30 Date 06.09.2021 Version 2.0 7–56
This note contains important additional information as well as useful tips for
safe, efficient and trouble-free operation of the rotational axis.
Further warning signs:
Where applicable, the following standardised symbols are used in this manual
to point out the various potential health risks.
Warning
- Dangerous electrical voltage.
Warning
- Risk of injury from contact with hot surfaces.
Warning
-
Risk of hand and finger injury due to uncontrolled
movements of components.
Warning
- Magnetic field
Warning
- back injury due to heavy lifting.
Warning
- Risk of injury as a result of parts being flung out!
Warning
-high noise levels
1.3 Additional symbols
In these assembly instructions the following symbols are used to highlight
instructions, results, references, etc.
Symbol Description
1.
Instructions (steps ...)
 Results of actions
 References to sections
 Enumerations not ordered

General
8 – 56 Assembly instructions EN SE20 - SE30 Date 06.09.2021 Version 2.0
1.4 Applicable documents
Each rotational axis is accompanied by a safety information sheet. This
information sheet must be read carefully by every person who carries out work
on and with the rotational axis.
1.5 Warranty
The warranty terms for Afag handling components and handling systems are
the following:
24 months from initial operation and up to a maximum of 27 months from
delivery.
Wear parts are excluded from the warranty (The customer is entitled to a
product free of defects. This does also apply to defective accessories and
wear parts. Normal wear and tear are excluded from the warranty.
The warranty covers the replacement or repair of defective Afag parts. Further
claims are excluded.
The warranty shall expire in the following cases:
Improper use of the module
Non-observance of the instructions regarding assembly, commissioning,
operation and maintenance of the module.
Improper assembly, commissioning, operation and maintenance.
Repairs and design changes carried out without prior technical instructions
of Afag.
Removing the serial number from the product.
Inadequate checking of wear parts.
Non-observance of the EC Machinery Directive, the Accident Prevention
Regulations, the Standards of the German Electrotechnology Association
(VDE) and these safety and assembly instructions.
1.6 Liability
No changes shall be made to the rotational axis unless described in this
instructions manual or approved in writing by Afag.
Afag accepts no liability for unauthorized changes or improper assembly,
installation, commissioning, operation, maintenance or repair work.

Safety instructions
Assembly instructions EN SE20 - SE30 Date 06.09.2021 Version 2.0 9–56
2 Safety instructions
2.1 General
This chapter provides an overview of all important safety aspects to ensure safe
and proper use of the rotational axis and optimal protection of personnel.
Safe handling and trouble-free operation of the module requires knowledge of
the basic safety regulations.
Every person carrying out installation, commissioning, maintenance work or
operating the module must have read and understood the complete user
manual, especially the chapter on safety instructions.
Beyond this, there are rules and regulations regarding accident prevention that
are applicable to the place of installation which must be observed.
Improper use may result in danger to life and limb of the user or third parties or
in damage to the automation system or other material assets.
Failure to follow the directions and safety instructions given in this instructions
manual may result in serious hazards.
2.2 Intended use
The rotary axes are used in automation systems and are used to move
workpieces in non-hazardous environments and in the ambient and operating
conditions defined for these modules (Chapter 3 Technical data).
The rotational axes are designed exclusively for gripping payloads that do not
pose any danger to persons, property or the environment during manipulation.
In combination with other modules the modules can be used as a pick & place
Station.
Any use beyond the described purpose is not in accordance with the intended
use.
The intended use of the module also includes:
Observance of all instructions given in this instructions manual.
C
ompliance with the inspection and maintenance work and the
specifications in the data sheets.
Using only original spare parts.
2.3 Foreseeable misuse
Any use other than or beyond the intended use described above is considered
a misuse of the rotational axis.
Especially the following use is considered a misuse:
Use in potentially explosive atmospheres

Safety instructions
10 – 56 Assembly instructions EN SE20 - SE30 Date 06.09.2021 Version 2.0
Risks can occur if the module is not used as intended. In the event of
damages caused by improper use the following shall apply:
the operating company shall be solely responsible for such damage, and
Afag does not accept any liability for damage caused by improper use.
2.4 Obligations of the operator and the personnel
2.4.1 Observe the assembly instructions
A basic prerequisite for safe and proper handling of the rotational axis is a good
knowledge of the basic safety instructions.
These assembly instructions, in particular the safety instructions contained
therein, must be observed by all persons working with the rotational axis.
2.4.2 Obligations of the operating company
In addition to the safety instructions given in this manual, the operating company
must comply with the safety, accident prevention and environmental protection
regulations valid for the field of application of the rotational axis.
The operating company is required to use only personnel who :
have the necessary professional qualifications and experience,
are familiar with the basic rules regarding occupational safety and accident
prevention,
have been instructed in the correct handling of the rotational axis,
have read and understood these assembly instructions.
The operating company is also required to:
monitor on an ongoing basis that the personnel work safely considering any
potential hazard involved and the assembly instructions are observed,
ensure that the assembly instructions are always kept at hand at the
installation in which the modules are mounted,
observe and communicate universally applicable laws and regulations
regarding accident prevention and environmental protection,
provide the necessary personal protective equipment (e.g., protective
gloves) and instruct the personnel to wear it.
WARNING
Risk of injury if the module is not used as intended!
The improper use of the rotational axis poses a potential hazard to the
personnel.
The rotational axes may only be used in a technically perfect condition in
accordance with its intended use and the instructions in this manual as well
as in compliance with the safety requirements!

Any malfunctions, particularly those that could impair safety, must be
eliminated immediately!