SCHUNK EVG 55 User instructions

Translation of the original manual
Electrical variable gripper
EVG 55
Assembly and Operating Manual
Superior Clamping and Gripping

Imprint
2 05.01|EVG 55|en
Imprint
Copyright:
This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely sup-
plied to our customers and operators of our products and forms part of the product. This
documentation may not be duplicated or made accessible to third parties, in particular com-
petitive companies,
without our prior permission.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389066
Edition: 05.01 |19/08/2016|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear customer,
congratulations on choosing a SCHUNK product. By choosing SCHUNK, you have opted for
the highest precision, top quality and best service.
You are going to increase the process reliability of your production and achieve best
machining results – to the customer's complete satisfaction.
SCHUNK products are inspiring.
Our detailed assembly and operation manual will support you.
Do you have further questions? You may contact us at any time – even after purchase.
Kindest Regards
Yours SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. [phone]
Fax [phone]
[email protected]k.com
www.schunk.com

Table of Contents
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3
Table of Contents
1
General .............................................................................................................................. 6
1.1
About this manual ............................................................................................................. 6
1.1.1
Presentation of Warning Labels ........................................................................... 6
1.1.2
Applicable documents........................................................................................... 7
1.1.3
Sizes ........................................................................................................................ 7
1.2
Warranty ............................................................................................................................ 7
1.3
Scope of delivery................................................................................................................ 7
1.4
Accessory............................................................................................................................ 7
2
Basic safety notes ............................................................................................................. 8
2.1
Intended use ...................................................................................................................... 8
2.2
Not intended use ............................................................................................................... 8
2.3
Constructional changes ..................................................................................................... 8
2.4
Spare parts ......................................................................................................................... 8
2.5
Gripper fingers .................................................................................................................. 9
2.6
Ambient conditions and operating conditions ................................................................ 9
2.6.1
Electromagnetic compatibility.............................................................................. 9
2.6.2
Environmental conditions................................................................................... 11
2.7
Personnel qualification.................................................................................................... 13
2.8
Personal protective equipment ...................................................................................... 14
2.9
Notes on safe operation.................................................................................................. 14
2.10
Transport .......................................................................................................................... 15
2.11
Malfunctions .................................................................................................................... 15
2.12
Disposal ............................................................................................................................ 15
2.13
Fundamental dangers...................................................................................................... 16
2.13.1
Protection during handling and assembly......................................................... 16
2.13.2
Protection during commissioning and operation ............................................. 17
2.13.3
Protection against dangerous movements ....................................................... 17
2.13.4
Protection against electric shock ....................................................................... 18
2.13.5
Protection against magnetic and electromagnetic fields................................. 19
2.14
Notes on particular risks ................................................................................................. 20
3
Technical data.................................................................................................................. 22
3.1
Basic data ......................................................................................................................... 22
3.2
Diagrams........................................................................................................................... 23
3.3
Motor data ....................................................................................................................... 24
4
Design and description .................................................................................................... 25
4.1
Configuration ................................................................................................................... 25

Table of contents
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4.2
Operation principle.......................................................................................................... 26
5
Assembly and installation................................................................................................ 27
5.1
Mechanical connection ................................................................................................... 27
5.2
Special connection dimensions ...................................................................................... 29
5.3
Electrical connection ....................................................................................................... 31
5.3.1
Connection principle ........................................................................................... 31
5.3.2
EMV fitting of connection cable to the gripper................................................. 32
5.4
Electrical connection of the module to the MCS-06 controller ................................... 34
5.4.1
Scope of delivery of MCS-06 controller ............................................................. 35
5.4.2
Technical data of the MCS-06 controller ........................................................... 35
5.4.3
Configuration and description of the MCS-06 controller ................................. 36
5.4.4
Procedure and requirements ............................................................................. 38
5.4.5
Configuration of terminal strip X1 of the MCS-06 controller........................... 39
5.4.6
Configuration of terminal strip X2 of the MCS-06 controller........................... 40
5.4.7
Configuration of terminal strip X3 of the MCS-06 controller........................... 41
5.4.8
Configuration of terminal strip X4 of the MCS-06 controller........................... 43
5.4.9
Pin assignment of communication interfaces ................................................... 43
5.5
Connecting ground cable ................................................................................................ 47
5.6
Function and handling..................................................................................................... 48
5.7
Commissioning and system integration via the SCHUNK MCS-06 controller ............. 49
5.7.1
System structure ................................................................................................. 49
5.7.2
SCHUNK Motion protocol ................................................................................... 50
5.7.3
Important commands ......................................................................................... 51
6
Troubleshooting .............................................................................................................. 54
6.1
Behavior in case of product malfunctions ..................................................................... 54
6.1.1
Gripper does not move ....................................................................................... 54
6.1.2
Gripping force decreases / gripper opens and closes abruptly ....................... 54
6.1.3
Gripper does not travel through the entire stroke .......................................... 54
6.2
Motor does not turn........................................................................................................ 54
6.3
Behavior in case of malfunctions of the MCS-06 SCHUNK controller ......................... 55
6.3.1
LEDs on Controller Do Not Light Up................................................................... 55
6.3.2
POW LED (Green) Does Not Light Up................................................................. 55
6.3.3
RDY LED (Green) Does Not Light Up .................................................................. 55
6.3.4
ERR LED (Red) Flashing........................................................................................ 55
6.3.5
Product stops abruptly........................................................................................ 56
6.3.6
Module Does Not Move/Respond ..................................................................... 56
7
Maintenance.................................................................................................................... 57

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5
7.1
Maintenance intervals..................................................................................................... 57
7.2
Measures for preserving the gripper's function............................................................ 57
7.3
Cleaning ............................................................................................................................ 58
7.3.1
Gripper ................................................................................................................. 58
7.3.2
Controller ............................................................................................................. 58
7.4
Lubricants/lubrication points.......................................................................................... 58
7.5
Disassembly and assembly.............................................................................................. 59
8
Translation of original declaration of incorporation........................................................ 60

General
6 05.01|EVG 55|en
General
About this manual
This manual contains important information for a safe and appropri-
ate use of the product.
This manual is an integral part of the product and must be kept ac-
cessible 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 ob-
servance of all safety instructions in this manual.
Illustrations in this manual are provided for basic understanding and
may differ from the actual product design.
In addition to these instructions, the documents listed under
(1.1.2, Page 7) are applicable.
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
1.1
1.1.1

General
05.01|EVG 55|en
7
Applicable documents
• General terms of business *
• Catalog data sheet of the purchased product *
• Assembly and Operating manuals of the accessories *
• Software Manual – Motion Control *
The documents marked with an asterisk (*) can be downloaded on
our homepage www.schunk.com.
Sizes
This operating manual applies to the following sizes:
• EVG - 40
• EVG - 100
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 (2.6,
Page 9)
• Observe the specified maintenance and lubrication intervals
(7, Page 57)
Parts touching the workpiece and wearing parts are not included in
the warranty.
Scope of delivery
The scope of delivery includes
• 2-Finger ParallelgreiferEVG
in the ordered model
• USB to RS232 converter inclusive driver CD
• Accessory pack
• EVG - cable length 3m 4mm x 1mm
Accessory
The following accessories, which must be ordered separately, are re-
quired for the product:
• Controller (e.g. SCHUNK MCS-06)
A wide range of accessories are available for this product
For information about which accessories can be used with the ap-
propriate product version see catalog.
1.1.2
1.1.3
1.2
1.3
1.4

Basic safety notes
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Basic safety notes
Intended use
The product is designed exclusively for gripping and temporarily hold-
ing workpieces or objects.
• The product may only be used within the scope of its technical da-
ta, (3, Page 22).
• The product is intended for installation in a machine/system. The
applicable guidelines must be observed and complied with.
• The product is intended for industrial use.
• Appropriate use of the product includes compliance with all in-
structions in this manual.
Not intended use
It is not intended use if the product is used, for example, as a pressing
tool, stamping tool, lifting gear, guide for tools, cutting tool, clamping
device or a drilling tool.
• Any utilization that exceeds or differs from the appropriate use is
regarded as misuse.
Constructional changes
Making constructional changes
Attachments and modifications, constructional changes and subse-
quent work, e.g. additional threads, drill holes and safety devices may
impair the operation and safety or damage the product.
• Constructional changes may only be done with SCHUNK's permis-
sion.
Spare parts
Use of unauthorised spare parts
Using unauthorised spare parts can endanger personnel and damage
the product or cause it to malfunction.
• Use only original spare parts or spares authorised by Schunk.
2
2.1
2.2
2.3
2.4

Basic safety notes
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9
Gripper fingers
Requirements for the gripper fingers
Stored energy within the product creates the risk of serious injuries
and significant property damage.
• Arrange the gripper fingers in a way that the product reaches ei-
ther the position "open" or "closed" in a de-energized state.
• Only exchange the gripper fingers when no residual energy re-
mains in the product.
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 de-
fined application parameters, (3, Page 22).
• Ensure that the product is protected against sprayed water, va-
pors, contamination, and EMC influences during operation. Ex-
ceptions are products that are designed especially for contami-
nated environments.
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 – Interference immunity in
industrial environments
EN 61000-6-3
(2011)
EMC: Generic standards - emitted interference for
living area, business and commercial areas and
small businesses
The product must be installed using interference-free cables and in a
way that meets EMC requirements in order to ensure interference-
free operation.
2.5
2.6
2.6.1

Basic safety notes
10 05.01|EVG 55|en
The electromagnetic compability with pulse-shaped inference varia-
bles 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 elec-
tricity
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 varia-
bles 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 in-
duced by high frequency fields
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
Interference
variables
Emission of radio
interference