SCHUNK OAS-V09-D User instructions

Translation of the original operation manual
Assembly and Operating Manual
OAS with electronic sensor evaluation
Retro-reflective sensor

Imprint
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Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights
reserved. Any reproduction, processing, distribution (making available to third parties),
translation or other usage - even excerpts - of the manual is especially prohibited and
requires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389232
Version: 02.00|10/07/2019|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 us. We will find a solution!
Best regards,
Your SCHUNK team
SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. [phone]
Fax [phone]
[email protected]
schunk.com

Table of contents
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Table of contents
1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................ 5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Applicable documents ..............................................................................5
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 6
2 Basic safety notes ................................................................................................... 7
2.1 Intended use......................................................................................................... 7
2.2 Inappropriate use ................................................................................................. 7
2.3 Constructional changes ........................................................................................ 7
2.4 Spare parts ........................................................................................................... 7
2.5 Environmental and operating conditions ............................................................. 7
2.6 Personnel qualification......................................................................................... 8
2.7 Notes on particular risks....................................................................................... 9
3 Technical data.........................................................................................................11
4 Design and description............................................................................................12
4.1 Force/torque sensor system controller V09-D ................................................... 12
4.2 Force/torque sensor system controller V10-D/A ............................................... 13
5 Assembly ................................................................................................................14
5.1 Mechanical connection ...................................................................................... 14
5.2 Electrical connection OAS V09-D........................................................................ 15
5.3 Electrical connection OAS V10-A ........................................................................ 16
5.4 Electrical connection OAS V10-D........................................................................ 16
5.5 Mounting the force/torque sensor system controller........................................ 17
5.6 Mounting sensor on the gripper MPG-plus........................................................ 18
6 Adjusting the force/torque sensor system controller V09-D....................................19
6.1 Settings............................................................................................................... 19
6.2 Teaching in the switching point.......................................................................... 19
6.2.1 Automatic mode (AUT)...........................................................................19
6.2.2 Manual mode (MAN)..............................................................................20
7 Adjusting the force/torque sensor system controller V10-D/A ................................21
7.1 Settings............................................................................................................... 21
7.2 Teaching in the switching point.......................................................................... 22
7.2.1 Settings in the TEA menu........................................................................22
7.2.2 Set switching threshold remotely (Remote-Teach) ................................24
7.2.3 OUT menu item ......................................................................................25

Table of contents
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8 Notes on the operation of the sensor......................................................................26
8.1 Repeat accuracy ................................................................................................. 26
8.2 Use of an extension cable between sensor and force/torque sensor system
controller ............................................................................................................ 26
8.3 Influence of workpiece surface ..........................................................................27
8.4 Influence of contamination ................................................................................ 29
8.5 Influence of gripper fingers ................................................................................ 30
8.6 Influence of temperature ...................................................................................32
8.7 Influence of external light sources ..................................................................... 32
8.8 IP protection class .............................................................................................. 32
9 Troubleshooting .....................................................................................................33
9.1 No LED lights up on the force/torque sensor system controller ........................ 33
9.2 No switching signal being emitted by force/torque sensor system controller...33
9.3 Switching point has changed.............................................................................. 33
9.4 Display does not output any values.................................................................... 34
10 Maintenance ..........................................................................................................35
11 Translation of the original EC Declaration of Confromity.........................................36

General
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1 General
1.1 About this manual
This manual contains important information for a safe and
appropriate use of the product.
This manual is an integral part of the product and must be kept
accessible for the personnel at all times.
Before starting work, the personnel must have read and
understood this operating manual. Prerequisite for safe working is
the observance of all safety instructions in this manual.
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 cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
NOTICE
Material damage!
Information about avoiding material damage.
1.1.2 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly‐ and Operating Manual of the SCHUNK-module, on
which the sensor is mounted *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com

General
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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 applicable documents, Applicable documents [}5]
• Observe the ambient conditions and operating conditions,
Environmental and operating conditions [}7]
1.3 Scope of delivery
The scope of delivery includes
• Optical distance and presence sensor OAS with force/torque
sensor system controller in the version ordered
• Force/torque sensor system controller in the variant ordered:
– OAS with force/torque sensor system controller V09-D
– OAS with force/torque sensor system controller V10-D
– OAS with force/torque sensor system controller V10-A
• Top-hat rail
• Accessory pack

Basic safety notes
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2 Basic safety notes
2.1 Intended use
The sensor is used exclusively to monitor whether a workpiece is
present or how far the gripper and workpiece are from each other.
• The product is intended for installation in a machine/system.
The applicable guidelines must be observed and complied with.
• The product may only be used within the scope of its technical
data, Technical data [}11].
2.2 Inappropriate use
The product is not a safety component in accordance with the EC
Machine Directive 2006/42/EC and must not be used in safety-
relevant parts of machine control units.
2.3 Constructional changes
Implementation of structural changes
By conversions, changes, and reworking, e.g. additional threads,
holes, or safety devices can impair the functioning or safety of the
product or damage it.
• Structural changes should only be made with the written
approval of SCHUNK.
2.4 Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and
damage the product or cause it to malfunction.
• Use only original spare parts or spares authorized by SCHUNK.
2.5 Environmental and operating conditions
• Make sure that the product is used only in the context of its
defined application parameters, Technical data [}11].
• Ensure that maintenance and lubrication intervals are observed,
Maintenance [}35].
• 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 especially for contaminated
environments.

Basic safety notes
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2.6 Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently
qualified, the result may be serious injuries and significant
property damage.
• All work may only be performed by qualified personnel.
• Before working with the product, the personnel must have read
and understood the complete assembly and operating manual.
• Observe the national safety regulations and rules and general
safety instructions.
The following personal qualifications are necessary for the various
activities related 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 possible dangers and knows the relevant standards and
regulations.
Instructed person Instructed persons were instructed by the operator about the
delegated tasks and possible dangers due to improper behaviour.
Service personnel of
the manufacturer
Due to its technical training, knowledge and experience, service
personnel of the manufacturer is able to perform the delegated
tasks and to recognize and avoid possible dangers.

Basic safety notes
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2.7 Notes on particular risks
The general rule is:
• Secure the system against accidental operation during all work.
• All work must be performed by skilled personnel only.
• The product can pose hazards if, for example:
– the product is not used as intended.
– the product is not installed correctly.
– the maintenance or assembly instructions are not observed.
• Avoid any manner of working that may interfere with the
function and operational safety of the product.
DANGER
Danger from electric voltage!
Touching live parts may result in death.
•Switch off the power supply before any assembly, adjustment or
maintenance work and secure against being switched on again.
•Only qualified electricians may perform electrical installations.
•Check if de-energized, ground it and hot-wire.
•Cover live parts.
WARNING
Risk of injury due to incorrect use!
The sensor does not constitute a safety component and is
intended merely to detect objects.
•Do not use the sensor as a safety component.
•Observe the Machine Directive and Accident Prevention
Regulations.

Basic safety notes
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WARNING
Possible risk of injury due to sudden movements!
•During assembly/disassembly and when teaching the sensor, the
automated system and the module concerned must be enabled.
•Work on the module may be carried out only by qualified
specialist personnel.
NOTICE
Risk of damage to the sensor!
Ensure gripper fingers and sensor do not collide when assembling
the sensor.
•Dimension gripper fingers accordingly.
•Follow the assembly instructions.

Technical data
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3 Technical data
Product designation OAS with force/torque sensor
system controller
V09-D V10-D V10-A
Ambient temperature [°C]
Min.
Max.
-10
+55
IP rating IP65
Power supply [VDC]
Min.
Max.
10
30
15
30
Current consumption
Ø [mA]
Max. current [A]
40
0.18
45
0.18
Limit frequency [Hz] 500 500 -
Output signal digital digital analog
Output current [mA] 100 200 -
Output voltage [VDC] - - 0 ... 10
Operation principle clocked
Operating display Green LED
Signal display Yellow LED LED yellow/
7-segment display
More technical data is included in the catalog data sheet.
Whichever is the latest version.

Design and description
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4 Design and description
4.1 Force/torque sensor system controller V09-D
1 LED OUT (yellow) 4 Sensor connection
2 LED L.ON (green) 5 Connection power supply
3 Slide switches 6 Selection keys
The slide switch (arrow) on the force/torque sensor system
controller can be used to select between different operating
modes.
The green LED indicates a safe signal state. The yellow LED shows
the switching condition at the output.

Design and description
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4.2 Force/torque sensor system controller V10-D/A
1 LED PWR (green) 5 Connection voltage
supply
2 Slide switches 6 Jog switch
3 LED OUT (yellow) 7 Signal and dialog display
4 Sensor connection
The slide switch (arrow) on the force/torque sensor system
controller can be used to select between different menu items.
The green LED indicates an energy supply is present. The yellow
LED shows whether the switching point has been reached or not.
In the 7-segment display, the signal strength is shown as a value
between 0 and 999.

Assembly
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5 Assembly
NOTE
The assembly instructions in this chapter are generally applicable.
Module-specific assembly instructions for the sensor can be found
in the Assembly and Operating Manual for the module, which can
be downloaded at schunk.com
5.1 Mechanical connection
NOTICE
Property damage due to incorrect bending radius!
The product may get damaged if the cable's bending radius is less
than the minimum.
•Static: 10 times the cable diameter.
•Dynamic: 15 times the cable diameter.
NOTE
• Do not use the sensor as a safety component.
• Do not pull on the cable of the sensor.
• Secure the cable and connection plug so that they are not
taught and cannot move during operation.
• Do not exceed the permitted bending radius of the cable.
• Do not allow the sensor to come into contact with hard objects
and chemicals (e.g., nitric acid, chromic acid and sulfuric acid).

Assembly
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5.2 Electrical connection OAS V09-D
NOTICE
Material damage due to incorrect bending radii!
The product may get damaged if the bending radius of the cable
is less than the minimum.
•The bending radius must be at least 7.5 times the cable
diameter.
NOTE
Observe the maximum electrical energy values Technical data [}11].
Components of the electrical connection V09-D
Type Sensor, M8, 3-pin Force/torque sensor
system controller
output
Assignme
nt
Open wire strands
PIN 1 +transmitter brown +VCD
4 GND/shielding blue -GND
3 +receiver black Signal output

Assembly
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5.3 Electrical connection OAS V10-A
Components of the electrical connection V10-A
Type Sensor, M8, 3-pin Force/torque sensor
system controller
output
Assignme
nt
Open wire strands
PIN 1 +transmitter brown +VCD
4 GND/shielding blue -GND
3 +receiver black Analog output +
pink Teach input
white Analog GND +
5.4 Electrical connection OAS V10-D
Components of the electrical connection V10-D
Type Sensor, M8, 3-pin Force/torque sensor
system controller
output
Assignme
nt
Open wire strands
PIN 1 +transmitter brown +VCD
4 GND/shielding blue -GND
3 +receiver black Signal output
pink Teach input
white Alarm output

Assembly
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5.5 Mounting the force/torque sensor system controller
Mounting The force/torque sensor system controller is mounted on a top-hat
rail:
Assembly of the force/torque sensor system controller
ØSecure the top-hat rail at the desired location.
ØPlace the force/torque sensor system controller on the top-hat
rail.
ØConnect the force/torque sensor system controller to the
supply voltage.
Alternative
Alternative assembly of force/torque sensor system controller
If assembly with a top-hat rail is not possible:
ØFasten the force/torque sensor system controller with screws
using the two lateral bore holes on the bottom of the housing.
ØConnect the force/torque sensor system controller to the
supply voltage.

Assembly
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5.6 Mounting sensor on the gripper MPG-plus
ØScrew the sensor to the side of the housing of the gripper. The
sensor should point in the direction of the gripper fingers.
2xM3 screws must be provided by the customer.
ØConnect the sensor to the force/torque sensor system
controller.

Adjusting the force/torque sensor system controller V09-D
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6 Adjusting the force/torque sensor system controller
V09-D
6.1 Settings
You can set when the switching signal is to be present at the
output on the force/torque sensor system controller Force/torque
sensor system controller V09-D [}12].
With light on receiver:
• light switching (LIGHT ON)
• or darkening, dark switching (DARK ON)
You can also set pulse extension, which extends the output signal
by 50ms.
ØSet the selector switch to DLY L/D ON.
ØSwitch on pulse extension using the (+) button (yellow LED
lights up) or switch it off (yellow LED goes out).
ØUsing the (-) button, activate light switching (yellow LED lights
up) or dark switching (yellow LED is off).
6.2 Teaching in the switching point
NOTE
We recommend using automatic mode AUT on the force/torque
sensor system controller to set the switching point and, if
required, then carrying out fine adjustment manually.
6.2.1 Automatic mode (AUT)
For automatic mode, set the selector switch to AUT position.
The switching point can be set automatically in three ways:
• Fully automatic
• Two-point method
• Setting switching threshold to a certain position
Fully automatic ØPress the (+) or (-) button to the left of the LEDs for between 3
and 60 seconds.
During this time, the force/torque sensor system controller will
adjust itself while operation is in process, thereby generating
the optimum switching threshold.
The green LED will flash rapidly for approx. 3s and then go out.
ØAfter releasing the button, the green LED will flash slowly for
approx. 2s when the setting operation has been successful. The
setting operation is then finished and the current value is saved.

Adjusting the force/torque sensor system controller V09-D
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Two-point method ØWhile the object is located within the light beam, press the (+)
button.
ØNow, when no object is located within the light beam, press the
(-) button.
Confirmation with these buttons will generate two
measurement values. The force/torque sensor system
controller places the switching threshold exactly in between.
During the setting operation, the green LED will flash rapidly.
Once the setting operation is successful, the LED will flash
slowly for approx. 2 s. The setting operation is then finished and
the current value is saved.
Setting switching
threshold to a certain
position
ØPlace the object at the switching position.
ØPress (+) and (-) briefly in succession.
The force/torque sensor system controller determines the
switching point at this point.
During the setting operation, the green LED will flash rapidly.
Once the setting operation is successful, the LED will flash
slowly for approx. 2 s. The setting operation is then finished and
the current value is saved.
6.2.2 Manual mode (MAN)
The switching threshold can be either set or finely adjusted
manually.
The starting point for the setting is the last relevant value saved
(factory setting: maximum range).
ØSet the selector switch to MAN position.
ØTo increase the range, press the (+) button until the desired
signal safety is attained.
ALTERNATIVELY
To lower the range, press the (–) button until the desired signal
safety is attained.