SCHUNK ECM User instructions

Original Operating Manual
Assembly and Operating Manual
ECM
Controller for SCHUNK gripper
Firmware 2.x, 3.x

Imprint
2 02.00 | ECM | Assembly and Operating Manual | en | 1378373
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights
reserved.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 1378373
Version: 02.00|13/10/2022|en
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
Customer Management
Tel. [phone]
Fax [phone]
[email protected]
Please read the operating manual in full and keep it close to the product.

Table of Contents
Table of Contents
1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................ 5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Definition of Terms...................................................................................5
1.1.3 Applicable documents ..............................................................................5
1.1.4 Variants.....................................................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 The scope of delivery includes ............................................................................. 6
1.4 Accessories ........................................................................................................... 6
2 Basic safety notes ................................................................................................... 7
2.1 Appropriate use.................................................................................................... 7
2.2 Inappropriate use ................................................................................................. 7
2.3 Constructional changes ........................................................................................ 7
2.4 Spare parts ........................................................................................................... 7
2.5 Ambient conditions and operating conditions .....................................................7
2.5.1 Electromagnetic compatibility..................................................................8
2.6 Personnel qualification....................................................................................... 10
2.7 Personal protective equipment.......................................................................... 10
2.8 Notes on safe operation ..................................................................................... 11
2.9 Transport ............................................................................................................ 11
2.10 Malfunctions....................................................................................................... 11
2.11 Disposal .............................................................................................................. 12
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
2.12.4 Protection against electric shock............................................................14
2.12.5 Protection against magnetic and electromagnetic fields .......................15
2.13 Notes on particular risks..................................................................................... 16
3 Technical data.........................................................................................................17
3.1 Type key.............................................................................................................. 17
3.2 Basic data ........................................................................................................... 17
3.3 Digital input and output variants........................................................................ 19
3.4 Housing dimensions ........................................................................................... 19
4 Design and description............................................................................................20
4.1 Design ................................................................................................................. 20
4.2 Description ......................................................................................................... 23
4.3 Interfaces............................................................................................................ 23
4.3.1 CAN bus and PROFIBUS ..........................................................................23
4.3.2 PROFINET................................................................................................24
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Table of Contents
4.3.3 Digital inputs and outputs ......................................................................27
4.4 LED display.......................................................................................................... 29
4.5 DIP switch ........................................................................................................... 30
5 Assembly and settings ............................................................................................32
5.1 Installing and connecting.................................................................................... 32
5.2 Connections........................................................................................................ 33
5.2.1 Mechanical assembly..............................................................................33
5.2.2 Electrical connection ..............................................................................34
5.3 Setting the Baud rate.......................................................................................... 49
5.4 Setting the fieldbus address ............................................................................... 49
5.5 Updating firmware ............................................................................................. 51
5.5.1 Update via USB Mini AB (device)............................................................51
5.5.2 Update via USB (host).............................................................................51
5.6 Establishing the factory settings......................................................................... 52
5.7 Resetting the PROFINET interface ...................................................................... 53
6 Start-up ..................................................................................................................54
6.1 Commissioning with CAN or PROFIBUS interface............................................... 54
6.2 PROFINET............................................................................................................ 55
6.2.1 Types of communication of PROFINET ...................................................55
6.2.2 Regulator operating behaviour with a connected module.....................56
6.2.3 Commissioning with PROFINET interface ...............................................56
6.2.4 Projecting of the regulator .....................................................................57
7 Troubleshooting .....................................................................................................65
8 EU-Declaration of Conformity .................................................................................66
9 Annex to Declaration of Conformity........................................................................67
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General
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.
In addition to these instructions, the documents listed
under }1.1.3 [/5] are applicable.
NOTE: The illustrations in this manual are intended to provide a
basic understanding and may deviate from the actual version.
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.
CAUTION
Material damage!
Information about avoiding material damage.
1.1.2 Definition of Terms
The term "product" replaces the product name on the title page in
this manual.
1.1.3 Applicable documents
• General terms of business *
• Catalog data sheet of the purchased product *
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General
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• Assembly and operating manuals of the accessories *
• "SCHUNK Motion Tool (MTS)" software manual *
• "SCHUNK Motion Protocol (SMP)" software manual *
• "SCHUNK Drive Protocol (SDP)" software manual *
The documents labeled with an asterisk (*) can be downloaded
from schunk.com.
1.1.4 Variants
This operating manual applies to the following variations:
• ECM with CAN bus
• ECM with PROFIBUS
• ECM with PROFINET
• ECM with CAN bus or PROFIBUS or PROFINET and digital inputs
and outputs
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 ambient conditions and operating
conditions, }2.5 [/7]
1.3 The scope of delivery includes
The scope of delivery includes
• Controller for SCHUNK gripper ECM in the version ordered
• USB 2.0 cable with a type A and a USB mini connection
• QR slip for downloading the commissioning software
• Mounting material
1.4 Accessories
The following accessories are required for the regulator and must
be ordered separately:
• A termination resistor , if the regulator is the last device in the
bus system.
– Optional PROFIBUS or CAN bus

Basic safety notes
2 Basic safety notes
2.1 Appropriate use
The product is used to control and regulate the EGN and EZN
grippers.
• The product is designed to be built into a control cabinet. The
applicable guidelines must be observed and complied with.
• The product may only be used within the scope of its technical
data, }3 [/17].
• The product is intended for industrial use.
• Appropriate use of the product includes compliance with all
instructions in this manual.
2.2 Inappropriate use
It is considered improper use if the product is used to actuate or
control products that are not from SCHUNK GmbH & Co. KG.
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
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 Ambient conditions and operating conditions
Required ambient conditions and operating conditions
Incorrect ambient and operating conditions can make the product
unsafe, leading to the risk of serious injuries, considerable material
damage and/or a significant reduction to the product's life span.
• Make sure that the product is used only in the context of its
defined application parameters, }3 [/17].
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Basic safety notes
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2.5.1 Electromagnetic compatibility
The product meets the requirements of the EMC act of the inner-
European market, among other requirements. The product has
passed the EMC test as per the following standards:
Standard Title
EN 61000-6-2
(2006)
EMC: Generic standard – Immunity for industrial
environments
EN 61000-6-3
(2011)
EMC: Generic standard – Emission standard for
residential and light-industrial environments
EN 61800-3
(2012)
EMV: Product standard – Adjustable speed
power drive systems
EN 55011
(2009)
EMV: Generic standard – Emission
The product must be installed using interference-free cables and in
a way that meets EMC requirements in order to ensure
interference-free operation.
Interference
variables:
The electromagnetic compability with pulse-shaped inference
variables has been verified and confirmed according to the
following standards:
Standard Title
EN 61000-4-2
(2008)
Test and measurement procedures - Testing the
interference immunity to discharging of static
electricity
EN 61000-4-4
(2008)
Test and measurements procedures - Testing the
interference immunity to fast transient electric
interference variables/burst
EN 61000-4-5
(2014)
Test and measurement procedures - Testing the
interference immunity to surge voltages
Sinusoidal interference variables:
The electromagnetic compability with sinusoidal interference
variables has been verified and confirmed according to the
following standards:
Standard Title
EN 61000-4-3
(2011)
Test and measurement procedures - Testing the
interference immunity to electromagnetic high
frequency fields
EN 61000-4-6
(2014)
Test and measurement procedures - interference
immunity to conducted interference variables
induced by high frequency fields

Basic safety notes
Emission of radio
interference
The emission of radio interference has been verified and
confirmed according to the following standards:
Standard Title
EN 61000-6-3
(2011)
EMC: Generic standards - emitted interference
for living area, business and commercial areas
and small businesses
The emitted interference of electromagnetic fields (limit class A,
group 1, measured with 10 m distance) has been tested according
to the following standards:
Standard Title
EN 55011
(2009)
Industrial, scientifical and medical devices - radio
interference - limits and measurement
procedures
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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.
2.7 Personal protective equipment
Use of personal protective equipment
Personal protective equipment serves to protect staff against
danger which may interfere with their health or safety at work.
• When working on and with the product, observe the
occupational health and safety regulations and wear the
required personal protective equipment.
• Observe the valid safety and accident prevention regulations.
• Wear protective gloves to guard against sharp edges and
corners or rough surfaces.
• Wear heat-resistant protective gloves when handling hot
surfaces.
• Wear protective gloves and safety goggles when handling
hazardous substances.
• Wear close-fitting protective clothing and also wear long hair in
a hairnet when dealing with moving components.

Basic safety notes
2.8 Notes on safe operation
Incorrect handling of the personnel
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Avoid any manner of working that may interfere with the
function and operational safety of the product.
• Use the product as intended.
• Observe the safety notes and assembly instructions.
• Do not expose the product to any corrosive media. This does
not apply to products that are designed for special
environments.
• Eliminate any malfunction immediately.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and
environmental protection regulations regarding the product's
application field.
2.9 Transport
Handling during transport
Incorrect handling during transport may impair the product's
safety and cause serious injuries and considerable material
damage.
• When handling heavy weights, use lifting equipment to lift the
product and transport it by appropriate means.
• Secure the product against falling during transportation and
handling.
• Stand clear of suspended loads.
2.10 Malfunctions
Behavior in case of malfunctions
• Immediately remove the product from operation and report the
malfunction to the responsible departments/persons.
• Order appropriately trained personnel to rectify the
malfunction.
• Do not recommission the product until the malfunction has
been rectified.
• Test the product after a malfunction to establish whether it still
functions properly and no increased risks have arisen.
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Basic safety notes
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2.11 Disposal
Handling of disposal
The incorrect handling of disposal may impair the product's safety
and cause serious injuries as well as considerable material and
environmental harm.
• Follow local regulations on dispatching product components for
recycling or proper disposal.
2.12 Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety devices.
• Before commissioning the product, take appropriate protective
measures to secure the danger zone.
• Disconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy
remains in the system.
• If the energy supply is connected, do not move any parts by
hand.
• Do not reach into the open mechanism or movement area of
the product during operation.
2.12.1 Protection during handling and assembly
Incorrect handling and assembly
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Have all work carried out by appropriately qualified personnel.
• For all work, secure the product against accidental operation.
• Observe the relevant accident prevention rules.
• Use suitable assembly and transport equipment and take
precautions to prevent jamming and crushing.
Incorrect lifting of loads
Falling loads may cause serious injuries and even death.
• Stand clear of suspended loads and do not step into their
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.

Basic safety notes
2.12.2 Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• Take appropriate protective measures to secure the danger
zone.
• Never step into the danger zone during operation.
2.12.3 Protection against dangerous movements
Unexpected movements
Residual energy in the system may cause serious injuries while
working with the product.
• Switch off the energy supply, ensure that no residual energy
remains and secure against inadvertent reactivation.
• The faulty actuation of conected drives may cause dangerous
movements.
• Operating mistakes, faulty parameterization during
commissioning or software errors may trigger dangerous
movements.
• Never rely solely on the 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
action being dependent on the control unit and the current
operating condition of the drive. Perform maintenance work,
modifications, and attachments outside the danger zone
defined by the movement range.
• To avoid accidents and/or material damage, human access to
the movement range of the machine must be restricted. Limit/
prevent accidental access for people in this area due through
technical safety measures. The protective cover and protective
fence must be rigid enough to withstand the maximum possible
movement energy. EMERGENCY STOP switches must be easily
and quickly accessible. Before starting up the machine or
automated system, check that the EMERGENCY STOP system is
working. Prevent operation of the machine if this protective
equipment does not function correctly.
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Basic safety notes
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2.12.4 Protection against electric shock
Work on electrical equipment
Touching live parts may result in death.
• Work on the electrical equipment may only be carried out by
qualified electricians in accordance with the electrical
engineering regulations.
• Lay electrical cables properly, e. g. in a cable duct or a cable
bridge. Observe standards.
• Before connecting or disconnecting electrical cables, switch off
the power supply and check that the cables are free of voltage.
Secure the power supply against being switched on again.
• Before switching on the product, check that the protective
earth conductor is correctly attached to all electrical
components according to the wiring diagram.
• Check whether covers and protective devices are fitted to
prevent contact with live components.
• Do not touch the product's terminals when the power supply is
switched on.
Possible electrostatic energy
Components or assembly groups may become electrostatically
charged. When the electrostatic charge is touched, the discharge
may trigger a shock reaction leading to injuries.
• The operator must ensure that all components and assembly
groups are included in the local potential equalisation in
accordance with the applicable regulations.
• While paying attention to the actual conditions of the working
environment, the potential equalisation must be implemented
by a specialist electrician according to the applicable
regulations.
• The effectiveness of the potential equalisation must be verified
by executing regular safety measurements.

Basic safety notes
2.12.5 Protection against magnetic and electromagnetic fields
Work in areas with magnetic and electromagnetic fields
Magnetic and electromagnetic fields can lead to serious injuries.
• Persons with pace-makers, metal implants, metal shards, or
hearing aids require the consent of a physician before entering
areas in which components of the electric drive and control
systems are mounted, started up, and operated.
• Persons with pace-makers, metal implants, metal shards, or
hearing aids require the consent of a physician before entering
areas in which magnetic grippers or motor parts with
permanent magnets are stored, repaired, or assembled.
• Do not operate high-frequency or radio devices in the proximity
of electric components of the drive system and their feed lines.
If the use of such devices is necessary:
When starting up the electric drive and control system, check
the machine or automated system for possible failures when
such systems are used at different intervals and in different
states of the control system. A special additional EMC test may
be necessary if the system has a high risk potential.
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Basic safety notes
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2.13 Notes on particular risks
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.
DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even 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.
•Wear suitable protective equipment.
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
•Use suitable protective equipment.
WARNING
Risk of burns through contact with hot surfaces!
Surfaces of components can heat up severely during operation.
Skin contact with hot surfaces causes severe burns to the skin.
•For all work in the vicinity of hot surfaces, wear safety gloves.
•Before carrying out any work, make sure that all surfaces have
cooled down to the ambient temperature.

Technical data
3 Technical data
3.1 Type key
ECM - EGN - PB - N
Module type
Communication type
Additional I/O card
EGN 080, EGN 100, EGN 160 EZN 064, EZN 100
PB = Profibus CN = CAN bus PN = Profinet
N = not allocated I = 4 inputs / 4 outputs
Type key
3.2 Basic data
Designation Value
Measurements (without option
cards) [g]
1800
height x width x depth [mm] 310 x 98 x 144
Ambient temperature [°C] +5up to +55
Rel. air humidity 5-85%,
non condensing
IP rating 20
Logic voltage [VDC]
(stabilized and smoothed, internal
reverse polarity protection)
24 ±10%
Max. logic current input [mA] 500
Supply power [VDC] 24 ±10%
Max. power output
Block commutation [VA] 324 ±10%
Sine commutation [VA] 286 ±10%
Max. output voltage
Block commutation [V] 17 ±10%
Sine commutation [V] 15 ±10%
Max. output current [A] 11
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Technical data
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Designation Value
Max. motor current input See the Assembly and
Operating Manual for the
relevant module.
Max. apparent power none
Interfaces *
PROFIBUS (12 MBit/s) X
CAN bus (up to 1 MBit/s) X
PROFINET (100 Mbit/s) X
USB X
Digital inputs and outputs (optional) X
Supported encoder systems
Resolver X
Encoder X
Brake connection (brakes engage when energized)
Nominal power current [A] 0.5
Peak current [A] 0.6
* The regulator is delivered either with PROFIBUS or CAN bus or
PROFINET. It is not possible to combine the PROFIBUS, CAN bus
and PROFINET. The USB interface is always available and
additional digital inputs and outputs can be chosen as an option.

Technical data
3.3 Digital input and output variants
Designation Value
Supply voltage Vin[VDC] +24 ±10%
Cable length max. [m] 30
Output
Current per output max. [mA] 250
Max. switching frequency [Hz] 500
Output voltage [VDC] Vin -0.3 V
Short-circuit-proof Yes
Reverse polarity protection Yes
Input
Max. input voltage Vin +10%
Input resistance [kOhm] 8
Max. frequency [kHz] 1
Turn-on threshold at 20°C [V] 17.3 ±0.3 V
Turn-off threshold at 20°C [V] 5.6 ±0.3 V
Reverse polarity protection Yes
Overcurrent protection Yes
Surge protection up to max. [V] 48
3.4 Housing dimensions
Housing dimensions (mm)
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Design and description
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4 Design and description
4.1 Design
Design with CAN bus or Profibus interface