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
05.01|EVG 55|en
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
4 05.00|EVG 55|en
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

Table of Contents
05.01|EVG 55|en
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
8 05.01|EVG 55|en
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
05.01|EVG 55|en
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

Basic safety notes
05.01|EVG 55|en
11
Environmental conditions
The following information applies if the product is transported and
stored in the original package.
Mechanical Environmental Conditions Standard: IEC 60721-3-2
(1997-02) Title: Classification of environmental conditions – Part 3:
Classification of groups of environmental parameters and their sever-
ities, Section 2: Transportation. Class 2M3 applies.
Climatic Environmental Conditions Standard: IEC 60721-3-2 (version
1997-02) Title: Classification of environmental conditions – Part 3:
Classification of groups of environmental parameters and their sever-
ities, Section 2: Transportation. Class 2K4 applies.
The aforementioned standards result in the following parameters for
the essential environmental conditions:
Standard
Title
EN 60068-2-1
Test procedure - test A: cold
EN 60068-2-2
Test procedure - test B: dry heat
EN 60068-2-13
Tests - test group M: low air pressure
EN 60068-2-14
Test procedure - test N: temperature change
IEC 60068-2-32
Tests - Test ed: Free fal
The following overview shows the permissible environmental condi-
tions for the product.
Mechanical Environmental Conditions Standard: IEC 60721-3-3
(1995-09) Title: Classification of environmental conditions – Part 3:
Classification of groups of environmental parameters and their sever-
ities, Section 3: Stationary use at weather-protected locations. Class
3M7 applies.
Climatic Environmental Conditions Standard: IEC 60721-3-3 (1995-09)
Title: Classification of environmental conditions – Part 3: Classification
of groups of environmental parameters and their severities, Section 3:
Stationary use at weather-protected locations. Class 3K3 applies
The product has been tested for the essential environmental condi-
tions according to the following standards:
Standard
Title
EN 60068-2-1
Test procedure - test A: cold
EN 60068-2-2
Test procedure - test B: dry heat
EN 60068-2-30
Test procedure - test Db: humid heat, cyclical (12 +
12 hours)
2.6.2
Requirements for
transport and storage
Requirements during
operation

Basic safety notes
12 05.01|EVG 55|en
The product may only be used in the following locations if additional
measures are taken:
• In locations with a high level of ionizing radiation
• In locations with difficult operating conditions, e.g., due to
caustic fumes, gases, oils or chemicals
• In facilities requiring special monitoring, e.g., in particularly at-risk
areas
The product must also not be used in potentially explosive zones. If
the product is subjected to unacceptably large impacts or vibrations,
suitable measures must be taken to reduce the amplitude or acceler-
ation of such disturbances. Vibration-damping or vibration-absorbing
systems are to be used in such cases.
Tests regarding mechanical environmental conditions
The product has been tested with respect to mechanical environ-
mental conditions according to the following standards:
Standard
Title
EN 60068-2-6
(2008-10)
Test procedure - test Fc: swinging (sinusoidal)
EN 60068-2-27
(2010-02)
Test procedure - test Ea and guideline: shocking
Testing environmen-
tal conditions

Basic safety notes
05.01|EVG 55|en
13
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 ac-
tivities related to the product:
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 regula-
tions.
Pneumatics specialists have been trained for this particular area of
responsibility and know the relevant standards and regulations.
Hydraulic specialists have been trained for this particular area of re-
sponsibility and knows the relevant standards and regulations.
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 persons were instructed by the operator about the dele-
gated tasks and possible dangers due to improper behaviour.
Due to its technical training, knowledge and experience, service per-
sonnel of the manufacturer is able to perform the delegated tasks
and to recognize and avoid possible dangers.
2.7
Trained electrician
Pneumatics specialist
Hydraulic specialist
Qualified personnel
Instructed person
Service personnel of
the manufacturer

Basic safety notes
14 05.01|EVG 55|en
Personal protective equipment
Using personal protective equipment
Not wearing personal protective equipment while working with the
product, may result in dangers that impact the personnel's safety and
health.
• While working with the product, obeserve the health and safety
regulations and wear the required personal safety equipment.
• Observe the valid safety and accident prevention regulations.
• In case of sharp edges and corners and rough surfaces, wear pro-
tection gloves.
• In case of hot surfaces, wear heat-resistant protection gloves.
• When dealing with hazardous substances, wear protection gloves
and goggles.
• In case of moving parts, wear tight protection clothes.
Notes on safe operation
Incorrect manner of working by personnel
Working in an incorrect manner 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.
• Rectify malfunctions as soon as they occur.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and environmen-
tal protection regulations regarding the product's application
field.
2.8
2.9

Basic safety notes
05.01|EVG 55|en
15
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 han-
dling.
• Stand clear of suspended loads.
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.
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 envi-
ronmental harm.
• Follow local regulations on dispatching product components for
recycling or proper disposal.
2.10
2.11
2.12

Basic safety notes
16 05.01|EVG 55|en
Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety installations.
• Install the provided protective product in the danger zone before
switching on the product.
• Remove energy supplies before the installation, modification,
maintenance or adjustment work. Make sure that no residual en-
ergy is remaining in the system.
• Do not move parts by hand while the energy supply is connected.
• Do not reach into the open mechanism or movement area of the
product during operation.
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 precau-
tions 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 swivel-
ing range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
2.13
2.13.1

Basic safety notes
05.01|EVG 55|en
17
Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• The danger zone must be cordoned off by a protective barrier.
• Never step into the danger zone during operation.
Protection against dangerous movements
Unexpected movements
Residual energy in the system may cause serious injuries while work-
ing with the product.
• Switch off the energy supply and ensure that no residual energy
remains.
• The faulty actuation of conected drives may cause dangerous
movements.
• Operating mistakes, faulty parameterization during commission-
ing 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 ac-
tion being dependent on the control unit and the current operat-
ing condition of the drive. Perform maintenance work, modifica-
tions, 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. Restrict un-
intentional access by persons to this range e.g. via a protective
cover, protective fence or photoelectric barrier. The protective
cover and protective fence must be rigid enough to withstand the
maximum possible movement energy. EMERGENCY STOP switch-
es must be easily and quickly accessible. Check the function of the
EMREGENCY STOP before starting up the machine or system. If
this protective equipment is not working properly, prevent the
operation of the machine.
2.13.2
2.13.3

Basic safety notes
18 05.01|EVG 55|en
Protection against electric shock
Work on electric equipment
Touching live parts may cause death.
• Work on electrical installations must be performed only by elec-
tricians in accordance with the electrical regulations.
• Observe the general installation and safety regulations concerning
work on high-voltage systems.
• Lay electrical cables correctly, e.g. in a cable duct or cable protec-
tor. Observe standards.
• Before connecting or disconnecting electric cables, switch off
power supply and make sure the lines are dead. Secure power
supply against reactivation.
• Before working on the product, disconnect it from the line power
and wait for at least 15 minutes to allow dangerous voltage
charges to dissipate (capacitor charge). Check that the device is
deenergized before you start working.
• Before switching on the product, check if the protective conduc-
tor on all electrical components has been installed correctly ac-
cording to the connection diagram.
• Check if covers and safety equipment preventing contact with live
components have been installed.
• Do not touch the product's connecting elements while the energy
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 equipotential bonding in accord-
ance with the applicable regulations.
• While paying particulary attention to the actual conditions of the
working environment, the equipotential bonding must be imple-
mented by a specialist electrician according to the applicable reg-
ulations.
• The effectiveness of the equipotential bonding must be verified
by executing regular safety measurements.
2.
13.4

Basic safety notes
05.01|EVG 55|en
19
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 hear-
ing 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 hear-
ing aids required the consent of a physician before entering areas
in which motor parts with permanent magnets are stored, re-
paired or assembled.
• Do not operate high-frequency or radio products 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 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 sys-
tem has a high risk potential.
2.13.5

Basic safety notes
20 05.01|EVG 55|en
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 should 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 objects falling and being ejected!
Falling and ejected objects during operation can lead to serious inju-
ry or death.
• The danger zone must be cordoned off by a protective barrier.
2.14