Schmalz OFG User manual

Controller OFG
Operating Instructions
WWW.SCHMALZ.COM EN-US · 30.30.01.02599 · 00 · 07/21

Note
The Operating instructions were originally written in German. Store in a safe place for future reference.
Subject to technical changes without notice. No responsibility is taken for printing or other types of er-
rors.
Published by
© J.SchmalzGmbH, 07/21
This document is protected by copyright. J.SchmalzGmbH retains the rights established thereby. Repro-
duction of the contents, in full or in part, is only permitted within the limits of the legal provisions of
copyright law. Any modifications to or abridgments of the document are prohibited without explicit writ-
ten agreement from J.SchmalzGmbH.
Contact
J. Schmalz GmbH
Johannes-Schmalz-Str. 1
72293 Glatten, Germany
T: [phone]
[email protected]
www.schmalz.com
Contact information for Schmalz companies and trade partners worldwide can be found at:
www.schmalz.com/salesnetwork
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Contents
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Contents
1 Important Information ...................................................................................................................................5
1.1 Note on Using this Document ............................................................................................................ 5
1.2 The technical documentation is part of the product ........................................................................ 5
1.3 Type Plate ............................................................................................................................................ 5
1.4 Warnings in This Document................................................................................................................ 6
1.5 Symbol.................................................................................................................................................. 6
2 Fundamental Safety Instructions...................................................................................................................7
2.1 Intended Use........................................................................................................................................ 7
2.2 Non-Intended Use ............................................................................................................................... 7
2.3 Personnel Qualifications ..................................................................................................................... 7
2.4 Safety ................................................................................................................................................... 8
2.5 Safety Features .................................................................................................................................... 9
2.6 Modifications to the Product.............................................................................................................. 9
3 Product Description ......................................................................................................................................10
3.1 Product Design .................................................................................................................................. 10
3.2 Description of the Control Panel...................................................................................................... 10
4 Technical Data ...............................................................................................................................................12
4.1 Technical Parameters ........................................................................................................................ 12
4.2 Dimensions......................................................................................................................................... 12
4.3 Finger Position vs. Control Level ...................................................................................................... 13
4.4 Movement Path of the Gripper Fingers ........................................................................................... 14
5 Transport and Storage..................................................................................................................................15
5.1 Checking the Delivery ....................................................................................................................... 15
5.2 Transport............................................................................................................................................ 15
6 Installation.....................................................................................................................................................16
6.1 Installation Instructions..................................................................................................................... 16
6.2 Mechanical Attachment.................................................................................................................... 16
6.3 Pneumatic connection....................................................................................................................... 17
6.4 Electrical Connection......................................................................................................................... 18
6.4.1 Establishing the Electrical Connection for the Controller OFG via the Connection Distribu-
tors.............................................................................................................................................. 18
6.4.2 Assignment of Terminals and Positions of Various Electrical Connections............................20
6.4.3 Use of the Different Ports ......................................................................................................... 21
6.5 Installing the Software...................................................................................................................... 22
6.6 Connecting the PC and Controller ................................................................................................... 22
7 Operation ......................................................................................................................................................26
7.1 Manual Activation............................................................................................................................. 26
7.2 Controlling the Manual Settings Using the Signal Inputs .............................................................. 26
7.3 Direct Control via Signal Inputs........................................................................................................ 26
7.4 Control via Analog Input .................................................................................................................. 26
7.5 Control via the USB Connection ....................................................................................................... 26
7.6 Using the Software............................................................................................................................ 27
7.7 Setting the Software ......................................................................................................................... 30

Contents
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8 Maintenance Plan and Cleaning ..................................................................................................................34
9 Warranty........................................................................................................................................................35
10 Accessories ....................................................................................................................................................36
11 Taking the Product Out of Operation and Disposal...................................................................................37
12 EU Conformity...............................................................................................................................................38

Important Information
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1Important Information
1.1Note on Using this Document
J.SchmalzGmbH is generally referred to as Schmalz in these Operating instructions.
These Operating instructions contain important notes and information about the different
operating phases of the product:
• Transport, storage, start of operations and decommissioning
• Safe operation, required maintenance, rectification of any faults
The Operating instructions describe the product at the time of delivery by Schmalz.
1.2The technical documentation is part of the product
1. For problem-free and safe operation, follow the instructions in the documents.
2. Keep the technical documentation in close proximity to the product. The documentation must be ac-
cessible to personnel at all times.
3. Pass on the technical documentation to subsequent users.
ðFailure to follow the instructions in these Operating instructions may result in life-threatening in-
juries!
ðSchmalz is not liable for damage or malfunctions that result from failure to heed these instructions.
If you still have questions after reading the technical documentation, contact Schmalz Service at:
www.schmalz.com/services
1.3Type Plate
The type plate (1) is attached to the packaging
and contains the following data.
• Serial number
• Barcode
• Part number
• Name
• CE label
The type plate (2) is permanently attached to the
product at the location shown and must always be
clearly legible.
It contains important information about the prod-
uct.
• CE label
• Part sales designation/type
• Part number
• Manufacturing date
• Serial number
1
2
The Control and Combo variants also have the
type plate (3) on the bottom of the housing.

Important Information
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• Barcode
• Part number
• Description
• Serial number
• Password
• Operating voltage
• Total weight
Please specify all the information above when ordering replacement parts, making warranty claims or for
any other inquiries.
1.4Warnings in This Document
Warnings warn against hazards that may occur when handling the product. The signal word indicates the
level of danger.
Signal word Meaning
DANGER Indicates a high-risk hazard that will result in death or serious injury if not
avoided.
WARNING Indicates a medium-risk hazard that could result in death or serious injury if
not avoided.
CAUTION Indicates a low-risk hazard that could result in minor or moderate injury if
not avoided.
NOTE Indicates a danger that leads to property damage.
1.5Symbol
This symbol indicates useful and important information.
üThis symbol represents a prerequisite that must be met prior to an operational step.
4This symbol represents an action to be performed.
ðThis symbol represents the result of an action.
Actions that consist of more than one step are numbered:
1. First action to be performed.
2. Second action to be performed.

Fundamental Safety Instructions
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2Fundamental Safety Instructions
2.1Intended Use
The controller STEU OFG is used to control and regulate the gripping movement of grippers in the OFG
series.
The controller is used to control the “Close” and “Open” functions and movements of the gripper OFG by
activating and deactivating the vacuum and compressed air.
The controller STEU OFG is an incomplete machine within the meaning of the Machinery Directive
2006/42/EC. The controller STEU OFG must be installed in a control cabinet or in appropriate housing. The
controller STEU OFG must be operated only in combination with a robot or handling system.
The product is intended for industrial use.
Intended use includes observing the technical data and the installation and operating instructions in this
manual.
2.2Non-Intended Use
Schmalz does not accept any liability for any direct or indirect losses or damages that result from using
the product. This applies, in particular, to any use of the product that is not in accordance with the in-
tended purpose and to any use that is not described or mentioned in this documentation.
In particular, the following are considered non-intended use:
1. Use in potentially explosive atmospheres
2. Unauthorized refits
2.3Personnel Qualifications
Unqualified personnel cannot recognize dangers and are therefore exposed to higher risks!
The operating company must ensure the following points:
• The personnel must be commissioned for the activities described in these instructions.
• The staff must be at least 18 years of age and physically and mentally capable.
• The product must be operated only by persons who have undergone appropriate training.
• Personnel must receive regular safety briefings (frequency as per country-specific regulations).
The following target groups are addressed in these instructions:
• Mechanical and electrical specialists who are responsible for installing, troubleshooting and main-
taining the product.
The operator of the system must comply with country-specific regulations regarding the age, ability and
training of the personnel.
Valid for Germany:
A qualified employee is defined as an employee who has received technical training and has the knowl-
edge and experience – including knowledge of applicable regulations – necessary to enable him or her to
recognize possible dangers and implement the appropriate safety measures while performing tasks. Qual-
ified personnel must observe the pertinent industry-specific rules and regulations.

Fundamental Safety Instructions
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2.4Safety
DANGER
Electric shock from touching live components
Serious injury or death!
4Make sure that the electrical components are not live before installation, maintenance
and troubleshooting.
The device emits noise due to operation with compressed air and a vacuum.
CAUTION
Noise pollution caused by exhaust air or leakage during operation
Hearing damage
4In the event of leakage, check connections and lines and remedy leakages
4Wear ear protectors.
4Only operate the integrated ejectors in the controller with a silencer.
CAUTION
Risk of a gripping finger bursting if the air pressure is too high when the gripping
fingers are activated.
Risk of injury
4Ensure that the pneumatic connection is operated with a maximum air pressure of 1.6
bar.
4Wear ear plugs and protective glasses.
CAUTION
Falling product
Risk of injury
4Fasten or store the product securely at the location of use.
4Wear protective work shoes (S1).
CAUTION
Compressed air or vacuum in direct contact with the eye
Severe eye injury
4Wear eye protection
4Do not look into compressed air openings
4Do not look into the silencer air stream
4Do not look into vacuum openings, e.g. suction cups

Fundamental Safety Instructions
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CAUTION
Depending on the purity of the ambient air, the exhaust air can contain particles,
which escape from the exhaust air outlet at high speed.
Eye injuries
4Do not look into the exhaust air flow
4Wear eye protection
2.5Safety Features
The controller STEU OFG must be connected to the safety technology for the robot to ensure work can be
performed safely. The controller switches off the system if the necessary functions are unavailable.
2.6Modifications to the Product
Schmalz assumes no liability for consequences of modifications over which it has no control:
1. The product must be operated only in its original condition as delivered.
2. Use only original spare parts from Schmalz.
3. The product must be operated only in perfect condition.

Product Description
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3Product Description
3.1Product Design
The figure here shows an example of the Control version.
2
1
6
3
5
4
1 Compressed air connection 2 Pneumatic connection for gripper
3 Silencer 4 PLC electrical connector
5 Control panel 6 3x mounting holes
3.2Description of the Control Panel
For the “Control” version, the operator panel allows you to operate an OFG finger gripper manually.
1 2
435
1ROTARY SWITCH POS. 1 2ROTARY SWITCH POS. 2
3“NEUTRAL” BUTTON 4POS. BUTTON 1
5POS. BUTTON 2 — —
Manual Activation
You can use the two rotary switches (1) and (2) to select various preset profiles for closing and opening. In
this case, the rotary switches have the same function/choose the same profiles:
• The profiles in the negative range open the finger gripper (opening angle through the vacuum
value).
• Profile 0 is the neutral position.
• The profiles in the positive range close the finger gripper (gripping force through the pressure).

Product Description
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The power can be programmed for each profile.
Schmalz recommends using the right rotary switch (item 2) for the opening process (levels -2 to
0) and the left rotary switch (item 1) for the closing process (levels 1 to 3).
The reason here is to provide the same use as with the control method “Controlling the Man-
ual Settings Using the Signal Inputs” (see chapter 7.2).
With the “Digital input” control method, item 1 (the left rotary switch) is assigned to the clos-
ing process and connection (A3), and item 2 (the right rotary switch) is assigned to the opening
process and connection (A4).
The three buttons are used to execute the set levels:
Button 4 (left): Activates gripping by the finger gripper with the level between 1 and 3 that is selected on
the rotary switch (item 1).
Button 5 (right): Activates the opening of the finger gripper with the level between -2 and 0 that is se-
lected on the rotary switch (item 2).
Button 3 (center): Activates the neutralization of the finger gripper, where the system pressure and the
position of the finger gripper are returned to the home position (50%).

Technical Data
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4Technical Data
4.1Technical Parameters
Parameter Basic Control Combo
Electrical supply [V] 24±
Current [A] 1
Pneumatic connection [bar] 6–8
Operating temperature [°C] 0–50
Operating medium Compressed air, oiled or unoiled in accordance with ISO
8573-1:2001, class 7-4-4
Pneumatic connection VSL 8-6
Finger gripper connection VSL 8-6
Suction cup connection for
Combo
— — VSL 8-6
Sound pressure level [dbA] 85 70
Controller Normally open (NO)
=> vacuum on = fingers open (with the Combo, suction is also ON
on the suction cup)
Mass [kg] 1.7 2.5 2.6
4.2Dimensions
Part no. H L B X1 Y1 d d1
10.01.51.00005 67 275 162.5 260 122 9 9
10.01.51.00006 and
10.01.51.00011
90
All specifications are in mm.

Technical Data
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4.3Finger Position vs. Control Level
Control level (gripper positions)
Finger position inmm
Operating range
Close
Open
The curve shown here corresponds to an idealized course. The actual curves of the respective
applications may deviate from this.

Technical Data
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4.4Movement Path of the Gripper Fingers
Vertical movement inmm
Horizontal movement inmm
Close Open
The curve shown here corresponds to an idealized course. The actual curves of the respective
applications may deviate from this.

Transport and Storage
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5Transport and Storage
5.1Checking the Delivery
The scope of delivery can be found in the order confirmation. The weights and dimensions are listed in
the delivery notes.
1. Compare the entire delivery with the supplied delivery notes to make sure nothing is missing.
2. Damage caused by defective packaging or occurring in transit must be reported immediately to the
carrier and J.SchmalzGmbH.
5.2Transport
Flawless and dust-free containers must be used for transport to and from the installation site, and profes-
sional safety measures must be ensured.
Only means of transport that comply with the statutory provisions and the specified loads must be used.

Installation
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6Installation
6.1Installation Instructions
CAUTION
Improper installation or maintenance
Personal injury or damage to property
4Prior to installation and before maintenance work, the product must be disconnected
from the power supply, depressurized (vented to the atmosphere) and secured against
unauthorized restart.
For safe installation, the following instructions must be observed:
1. Use only the connections, mounting holes and attachment materials that have been provided.
2. Carry out mounting and removal only when the device is in an idle, depressurized state.
3. Pneumatic and electrical line connections must be securely connected and attached to the Controller
OFG.
6.2Mechanical Attachment
The controller OFG must be installed in a control cabinet or in appropriate housing.
4Fasten the controller OFG via the boreholes in
the housing.

Installation
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6.3Pneumatic connection
Basic and Control Versions
üThe appropriate hose is ready for use:
OD=8mm, ID=6mm
1. Fasten the pneumatic hose for the compressed
air supply to the connection (1) (see the mark-
ing on the device).
2. Attach the pneumatic hose from the finger
gripper to the connection (2) (see the marking
on the device).
Basic
21
Control
1
2
Combo Version
üThe appropriate hoses are ready for use:
For the compressed air connection and the
connection for the finger gripper, OD = 8mm,
ID = 6mm
For the vacuum connection for the suction
cup, OD = 8mm, ID = 6mm
1. Connect the pneumatic hose for the com-
pressed air supply to the connection (1) (note
the marking on the device).
2. Connect the pneumatic hose for the finger
gripper to the connection (2) (note the mark-
ing on the device).
3. Connect the pneumatic hose for the suction
cup to the connection (3) (note the marking
on the device).
2 13

Installation
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6.4Electrical Connection
NOTE
Incorrect power supply
Destruction of the integrated electronics
4Operate the product using a power supply unit with protected extra-low voltage
(PELV).
4The system must incorporate safe electrical cut-off of the power supply in compliance
with EN60204.
4Do not connect or disconnect the connector under tension and/or when voltage is ap-
plied.
6.4.1Establishing the Electrical Connection for the Controller OFG via the Connection
Distributors
To establish the electrical connection for the respective controller, first remove the cover.
1. Remove the cover for the Basic version. Un-
screw and remove the two screws shown in
the figure.
2. Carefully remove the cover.
1. Remove the cover from the Control or Combo
version. Unscrew and remove the four screws
shown in the figure.
2. Carefully remove the cover.

Installation
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Basic Version
4Connect a suitable connection cable with
open cable ends to the controller (1) using
connection terminals 01 to 04:
Terminal 01: +24V DC
Terminal 02: Ground
Terminal 03 pin “A1”: +24V for closing = com-
pressed air active1)
Terminal 04 pin “A1”: +24V for opening =
vacuum active1)
1
1) The signal should be present until the next change.
The Control and Combo control units have different connections:
1
1
2
Control Version
1. On the PLC (2):
– Gripper profiles1)
– Neutral position
– USB and serial 5V TTL UART connection
(8N1, 115,200bauds)
2. On the terminals (1) to the right and left of
the PLC:
– + 24V DC and ground
– DI for gripping and releasing
– Analog input (0 to 10V)
– feedback, pressure reached
1) The profiles can be changed only using the
software or a terminal program.
Combo Version
1. On the PLC (2):
– Gripper profiles1)
– Neutral position
– USB and serial 5V TTL UART connection
(8N1, 115,200bauds)
– Suction cup on/blow-off2)
2. On the terminals (1) near the PLC:
– + 24V DC and ground
– DI for gripping and releasing
– Analog input (0 to 10V)
– feedback, pressure reached
1) The profiles can be changed only using the
software or a terminal program.
2) Only in combination with part number
10.01.51.00009 OFG… SPB4-30 for controlling
the suction cup.

Installation
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6.4.2Assignment of Terminals and Positions of Various Electrical Connections
The following figure shows the control connections. The specifications in the table below shows the func-
tions of the terminals and plugs.
Area PLC ter-
minal no.
Description Area PLC ter-
minal no.
Description
Yellow
mark-
ing
01 24V
Red
mark-
ing
AI8 Go to gripper pos. 31)
02 Mass AI9 Go to gripper pos. 41)
03 Pressure “on” = close
finger
AI10 Go to gripper pos. 51)
04 Vacuum “on” = open
finger
AI11 Go to gripper pos. 61)
05 Analog In (0 to 10V) DI0 Neutral position
06 Feedback DI2 Suction cup on (24V =
on; 0V = off) 2)
Red
mark-
ing
AI6 Go to gripper pos. 11) DI3 Blow-off off (24V = on;
0V = off) 2)
AI7 Go to gripper pos. 21) Blue
mark-
ing
X2 5V TTL UART serial
connection (8N1,
115,200 bauds)
1) These can be changed only using the software or a terminal program
2) Only in combination with 10.01.51.00009 OFG… SPB4-30 for controlling the included suction cup cycle