SCHUNK PW V6 User instructions

Translation of the original operating manual
Assembly and operating manual
PW V6
Servo-electric rotary pan-tilt actuator

Imprint
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02.00 | PW V6 | Assembly and operating manual | en | 389670
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: 389670
Version: 02.00|30/04/2019|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 ..............................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 6
1.4 Accessories ........................................................................................................... 6
2 Basic safety notes ................................................................................................... 7
2.1 Intended use......................................................................................................... 7
2.2 Not intended use.................................................................................................. 7
2.3 Constructional changes ........................................................................................ 7
2.4 Spare parts ........................................................................................................... 7
2.5 Ambient conditions and operating conditions .....................................................7
2.6 Personnel qualification......................................................................................... 8
2.7 Personal protective equipment............................................................................ 8
2.8 Notes on safe operation ....................................................................................... 9
2.9 Transport .............................................................................................................. 9
2.10 Malfunctions......................................................................................................... 9
2.11 Disposal .............................................................................................................. 10
2.12 Fundamental dangers......................................................................................... 10
2.12.1 Protection during handling and assembly ..............................................10
2.12.2 Protection during commissioning and operation ...................................11
2.12.3 Protection against dangerous movements.............................................11
2.12.4 Protection against electric shock............................................................12
2.12.5 Protection against magnetic and electromagnetic fields .......................13
2.13 Notes on particular risks..................................................................................... 14
3 Technical data.........................................................................................................16
3.1 Basic data ........................................................................................................... 16
3.2 Electrical operating data..................................................................................... 17
3.3 Special requirements for the voltage supply...................................................... 17
4 Design and description............................................................................................18
4.1 Design ................................................................................................................. 18
4.2 Description ......................................................................................................... 18
4.3 Connection board............................................................................................... 19
4.4 LED...................................................................................................................... 21
5 Assembly and installation .......................................................................................22
5.1 Mechanical connection ...................................................................................... 22
5.2 Electrical connection .......................................................................................... 24

Table of contents
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5.2.1 RS232 interface ......................................................................................25
5.2.2 CAN bus interface ...................................................................................26
5.2.3 PROFIBUS DP interface ...........................................................................28
5.3 Installing and connecting.................................................................................... 30
5.4 Connecting ground cable.................................................................................... 31
5.5 Installing connection cap.................................................................................... 32
5.6 Combination of multiple products ..................................................................... 33
5.7 Commissioning the product ............................................................................... 34
5.7.1 Connect the product to the computer ...................................................35
5.7.2 Open Motion Tool Schunk (MTS)............................................................36
5.7.3 Performing initial commissioning ...........................................................39
5.8 Set the product to its factory settings ................................................................ 41
5.9 Updating firmware ............................................................................................. 41
5.10 Systemintegration .............................................................................................. 42
5.10.1 Compatibility ..........................................................................................42
5.10.2 System structure.....................................................................................42
5.10.3 SCHUNK Motion protocol .......................................................................43
5.10.4 Important commands.............................................................................44
6 Troubleshooting .....................................................................................................47
6.1 Product does not move ...................................................................................... 47
6.2 Product moves sluggishly or jerks ......................................................................47
6.3 Motor does not turn........................................................................................... 47
6.4 Product stops abruptly ....................................................................................... 47
7 Maintenance ..........................................................................................................48
7.1 Maintenance intervals........................................................................................ 48
7.2 Disassembly and assembling .............................................................................. 48
8 Translation of original declaration of incorporation ................................................49
9 Annex to Declaration of Incorporation....................................................................50

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.
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
Applicable documents [}6] are applicable.
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.

General
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1.1.2 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
• Software manual "Motion Control SCHUNK" *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
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 specified maintenance and lubrication intervals
• Observe the ambient conditions and operating conditions
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
• Servo-electric rotary pan-tilt actuator PW V6
in the version ordered
• M5 plug for RS232 interface
• Adaptor cable, USB to M5 plug (length 2m)
• DVD
Contents of DVD:
• "SCHUNK Motion Tool (MTS)" configuration and commissioning tool
• "SCHUNK Motion Tool (MTS)" software manual
• "SCHUNK Motion Protocol (SMP)" software manual
• "SCHUNK Drive Protocol (SDP)" software manual
• Firmware manager
• Assembly and Operating Manual
• USB driver
1.4 Accessories
The following accessories, which must be ordered separately, are
required for the product:
• Hybrid cable
• Connection cap
– DMI
NOTE
The product is delivered without the connection cap. This must be
ordered separately as an accessory. A connection cap is necessary
to operate the product.
A wide range of accessories are available for this product
For information regarding which accessory articles can be used
with the corresponding product variants, see catalog data sheet.

Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product may only be used for swiveling permissible
attachment parts or workpieces.
• The product may only be used within the scope of its technical
data, Technical data [}16].
• When implementing and operating components in safety-
related parts of the control systems, the basic safety principles
in accordance with DIN EN ISO 13849-2 apply. The proven safety
principles in accordance with DIN EN ISO 13849-2 also apply to
categories 1, 2, 3 and 4.
• 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 and industry-oriented use.
• Appropriate use of the product includes compliance with all
instructions in this manual.
2.2 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.
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, Technical data [}16].

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
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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.

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
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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.

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
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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.

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 objects falling and being ejected!
Falling and ejected objects during operation can lead to serious
injury or death.
•Take appropriate protective measures to secure the danger
zone.
WARNING
Risk of injury due to unexpected movements!
If the power supply is switched on or residual energy remains in
the system, components can move unexpectedly and cause
serious injuries.
•Before starting any work on the product: Switch off the power
supply and secure against restarting.
•Make sure, that no residual energy remains in the system.

Basic safety notes
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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!
The product can heat up considerably during operation. Touching
hot surfaces can cause burns.
•Do not touch hot surfaces.
•Let them cool down before working on the product.
•Wear appropriate safety equipment.
WARNING
Risk of injury from objects falling during energy supply failure!
Electronic devices are not fail-safe. In case of an energy supply
failure, the gripping force decreases. As a consequence, it cannot
be guaranteed that the workpiece is held safely.
•In case of an energy supply failure, it is the user's
responsibility to revert the drive into a safe state.

Technical data
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3 Technical data
3.1 Basic data
Designation PW V6
70 90
Mechanical operating data
Weight [kg] 1.8 3.4
Noise emission [dB(A)] ≤ 70
IP rating 54
Ambient temperature [°C]
Min.
Max.
+5
+55
Control electronics
Power supply [VDC] 24
Axis 1
Nominal torque [Nm] 12.0 23.0
Maximum torque [Nm] 24.0 46.0
Angle of rotation [°] ±120 ±105
Max. acceleration [mm/s²] 960 600
Max. angular velocity [°/s] 240 150
Axis 2
Nominal torque [Nm] 2.0 12.0
Maximum torque [Nm] 4.0 24.0
Angle of rotation [°] >360
Max. acceleration [mm/s²] 1,440 960
Max. angular velocity [°/s] 360 240
Interface
CAN bus [up to 1 MBit/s]
PROFIBUS DP [1.5 MBit/s]
RS232, parameterization interface
X
X
X
X
X
X
More technical data is included in the catalog data sheet.
Whichever is the latest version.

Technical data
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3.2 Electrical operating data
Designation PW V6
70 90
Nominal voltage [VDC] 24
Nominal power current [A] 4
Max. current [A] 8
3.3 Special requirements for the voltage supply
NOTE
If the product is operated during a position run at high speed,
acceleration and jerk values, then voltage peaks in the power
supply may occur when delaying/braking due to the engine
recovering. The terminal voltage of the power supply can increase
via the output voltage of the power supply unit.
The power supply unit used for the power needs to be able to
handle this overvoltage and must not switch off its output voltage.
Otherwise, the product, forexample, will stop with the error
message "ERROR_Motor_Voltage_LOW!" or
"ERROR_Motor_Voltage_High" which must be acknowledged.
Supply of the logic and power are to be separate. For this reason,
it is recommended that the product be connected in the following
way:
ØConnection of the logic supply of the product to a 24V power
supply unit.
ØConnection of the power supply of the product to a transformer
power supply unit or to a switching power supply unit.

Design and description
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4 Design and description
4.1 Design
Servo-electric rotary pan-tilt actuator
1 Axis 2 (swivel axis) 5 Base plate
2 Axis 1 (tilt axis) 6 Connection cap with blind
plug and metric cable fitting
3 RS232 interface for
Axis 2
7 Assembly interface for
attachments
4 RS232 interface for
Axis 2
4.2 Description
The product is a Servo-electric rotary pan-tilt actuator with
integrated electronics and two independently movable axes.
Either a PROFIBUS or a CAN bus can be used as the bus system.
The PROFIBUS address range is between 0 and 127 and the CAN
bus range is between 0 and 255.
The RS232 interfaces are used to parameterize the axes of the
rotary pan-tilt actuator.

Design and description
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4.3 Connection board
Adapter boards
1X1
Supply of the product and
supply loop-through, bus
connection
5X3
Motor voltage GND
2X2
Connection of other
products, bus connection
6LED2
Motor voltage LED
3LED1
Logic voltage LED
7X4
Motor voltage +24V
4SW1
DIP switches for PROFIBUS
termination and CAN bus
termination
8SW2
DIP switches for Boot and
Default
X1/X2
Marking Function
PB_A PROFIBUS_A
PB_B PROFIBUS_B
CAN_H CAN bus_H
CAN_L CAN bus_L
GND GND
+24V Logic supply
FE Functional earth (optional)

Design and description
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X1/X2
Marking Function
GND GND
X3
Marking Function
GND Motor voltage GND
X4
Marking Function
+24V Motor voltage
SW1
Marking Function
S1 – 3
(PROFIBUS termination)
Sets the terminating resistor for the
PROFIBUS.
S4
(CAN termination)
Sets the terminating resistor for the
CAN bus.
SW2
Marking Function
S1 (boot) Sets firmware to Boot mode (only for
servicing purposes). New firmware can
be loaded onto the product.
S2 (Default) Resets the product to default settings.
DIP switches for PROFIBUS
If the product is the last device on the PROFIBUS, all three
PROFIBUS terminationDIP switches must be in theON position.
-If the product is not the last device on the PROFIBUS, all three
PROFIBUS terminationDIP switches must be in theOFF position.
DIP switch for CAN bus
If the product is the last device on the CAN bus, the CAN
terminationDIP switch must be in the ON position.
If the product is not the last device on the CAN bus, the CAN
terminationDIP switch must be in the OFF position.