SCHUNK PW V6 User instructions

Translation of the original manual
Servo-Electric Rotary Pan-Tilt Actuator
PW V6
Assembly and Operating Manual
Superior Clamping and Gripping

Imprint
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01.00|PW V6 |en
Imprint
Copyright:
This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely
supplied 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 particu-
lar competitive companies,
without our prior permission.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389670
Edition: 01.00 |17/03/2016|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]
www.schunk.com

Table of contents
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3
Table of contents
1
About this manual.................................................................................................... 5
1.1
Warnings................................................................................................................... 5
1.2
Applicable documents .............................................................................................. 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
Environmental and operating conditions................................................................. 8
2.6
Personnel qualification............................................................................................. 9
2.7
The use personal protective equipment ................................................................ 10
2.8
Notes on safe operation......................................................................................... 10
2.9
Transport ................................................................................................................ 11
2.10
Malfunctions........................................................................................................... 11
2.11
Disposal................................................................................................................... 11
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
Warranty................................................................................................................. 18
4
Scope of delivery ..................................................................................................... 19
5
Accessories.............................................................................................................. 19
6
Technical data ......................................................................................................... 20
6.1
Basic data................................................................................................................ 20
7
Design and description ............................................................................................ 21
7.1
Design ..................................................................................................................... 21
7.2
Description ............................................................................................................. 21
7.3
Connection board................................................................................................... 22
7.4
LED .......................................................................................................................... 24
8
Assembly and installation........................................................................................ 25
8.1
Mechanical connection .......................................................................................... 25
8.2
Electrical connection .............................................................................................. 27

Table of contents
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01.00|PW V6 |en
8.2.1
RS232 interface .......................................................................................... 28
8.2.2
CAN bus interface........................................................................................ 29
8.2.3
Interface Profibus DP .................................................................................. 31
8.3
Installing and connecting ....................................................................................... 33
8.4
Connecting ground cable........................................................................................ 34
8.5
Installing connection cap........................................................................................ 35
8.6
Combination of multiple products ......................................................................... 36
8.7
Commissioning the product ................................................................................... 37
8.7.1
Connect the product to the computer........................................................ 38
8.7.2
Open Motion Tool Schunk (MTS)................................................................ 39
8.7.3
Performing initial commissioning ............................................................... 42
8.8
Set the product to its factory settings.................................................................... 44
8.9
Updating firmware ................................................................................................. 45
8.10
Systemintegration .................................................................................................. 45
8.10.1
Compatibility ............................................................................................... 45
8.10.2
System structure ......................................................................................... 46
8.10.3
SCHUNK Motion protocol ........................................................................... 47
8.10.4
Most important commands ........................................................................ 48
9
Trouble shooting ..................................................................................................... 51
9.1
Product does not move .......................................................................................... 51
9.2
Product moves sluggishly or jerks .......................................................................... 51
9.3
The module's motor is not turning......................................................................... 51
9.4
Product stops abruptly ........................................................................................... 51
10
Maintenance and care............................................................................................. 52
10.1
Maintenance intervals............................................................................................ 52
10.2
Disassembling the product..................................................................................... 52
11
Translation of original declaration of incorporation ................................................. 53

About this manual
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5
About this manual
This manual contains important information for a safe and appro-
priate 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 unders-
tood 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 of
the product and may differ from the actual product design.
In addition to these instructions, the documents listed under
(1.2, Page 6) are applicable.
Warnings
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Danger for persons.
Non-compliance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons.
Ignoring a safety note like this 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

About this manual
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01.00|PW V6 |en
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.de.schunk.com.
1.2

Basic safety notes
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7
Basic safety notes
Intended use
The product was designed to swivel permissible attachments or
workpieces.
•The product may only be used within the scope of its technical
data, (6, Page 20).
•The product is intended for installation in a machine. The appli-
cable 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
Attachements and modifications, constructional changes and subse-
quent work, e.g. additional threads, drill holes and safety devices, can
compromise the operation and safety or damage the product.
•Constructional changes may be only done with permission from
SCHUNK.
Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and dam-
age the product or cause it to malfunction.
•Use only original spare parts or spares authorized by Schunk.
2
2.1
2.2
2.3
2.4

Basic safety notes
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Environmental and operating conditions
Requirements for the ambient and operating conditions
Due to incorrect ambient and operating conditions, dangers may
arise from the product, which can cause serious injury and sub-
stantial property damage.
•Observe maintenance and lubrication intervals, (10.1, Page 52).
•Make sure that the environment is free from splash water and
vapors as well as from abrasion or processing dust. Exceptions
are products that are designed especially for contaminated en-
vironments.
•Ensure that the product is protected against sprayed water, va-
pors, contamination, and EMC influences during operation.
•Make sure that the product's range of application is outside the
explosive area. Excepted are products which were designed for
explosive areas.
2.5

Basic safety notes
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9
Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently quali-
fied, the result may be serious injuries and significant property
damage.
•All work may be only 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:
Due to their technical training, knowledge and experience, trained
electrician are able to work on electrical systems, recognize and
avoid possible dangers and know the relevant standards and regu-
lations.
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
responsibility and knows the relevant standards and regulations.
Due to their technical training, knowledge and experience, quali-
fied 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 de-
legated tasks and possible dangers due to improper behaviour.
Due to their technical training, knowledge and experience, service
personnel of the manufacturer is able to perform the delegated
tasks and to recognize and avoid possible dangers.
2.6
Trained electrician
Pneumatics specialist
Hydraulic specialist
Qualified personnel
Instructed person
Service personnel of
the manufacturer

Basic safety notes
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The use personal protective equipment
Using personal protective equipment
If no personal protective gear is worn while working with the prod-
uct, the safety and health of the personnel may be compromised.
•Observe the health and safety regulations and wear the neces-
sary personal protective equipment while working with the
product.
•Observe the applicable safety accident prevention regulations.
•Use protective gloves for sharp edges, sharp corners and rough
surfaces.
•Use protective gloves for hot surfaces.
•Use protective gloves and googles when handling hazardous
substances.
•Wear tight protective clothing for moving components.
Notes on safe operation
Incorrect manner of working by personnel
Working in an incorrect manner can make the product unsafe and
risk the danger of serious injuries and considerable material dam-
age.
•Avoid any manner of working that may interfere with the func-
tion 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 environ-
mental protection regulations for the application field of the
product.
2.7
2.8

Basic safety notes
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11
Transport
Handling during transport
Incorrect handling during transport can make the product unsafe
and risk the danger of 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 and do not step within their
swiveling range.
Malfunctions
Behavior in case of malfunctions
•Immediately remove the product from operation, secure it, and
report the malfunction to the responsible units/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 crash to establish whether it still func-
tions properly and no increased dangers have arisen.
Disposal
Handling of disposal
The incorrect handling of disposal can make the product unsafe
and risk the danger of serious injuries and considerable material
and environmental harm.
•Follow local regulations on dispatching product components for
recycling or orderly disposal.
2.9
2.10
2.11

Basic safety notes
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01.00|PW V6 |en
Fundamental dangers
General
•Observe safe distances.
•Never deactivate safety installations.
•Install the provided protective product in the danger zone be-
fore switching the product on.
•Remove the energy supplies before installation, modification,
maintenance, or adjustment work. Make sure that no residual
energy remains in the system
•Do not move parts by hand when the energy supply is con-
nected.
•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 can make the product unsafe and
risk the danger of serious injuries and considerable material damage.
•Order all work to be performed only 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 pre-
cautions to prevent jamming and crushing.
Incorrect lifting of 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.
2.12
2.12.1

Basic safety notes
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13
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 surrounded by a protective barrier.
•Do not step into the danger zone during operation.
Protection against dangerous movements
Unexpected movements
If the system still retains residual energy, serious injuries can be
caused while working on the product.
•Switch off the energy supply and ensure that no residual energy
remains.
•Dangerous movements can be caused by faulty actuation of
connected drives.
•Dangerous movements can be triggered by operating mistakes,
faulty parameterization during commissioning, or software errors.
•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 oper-
ating condition of the drive. Perform maintenance work, mod-
ifications, 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. Re-
strict unintentional access by persons to this range by e.g. 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. EMER-
GENCY STOP switches must be easily and quickly accessible. Be-
fore starting up the machine or system, check that the EMER-
GENCY STOP system is working. Prevent operation of the ma-
chine if this protective equipment does not function correctly.
2.12.2
2.12.3

Basic safety notes
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Protection against electric shock
Work on electric equipment
Touching live parts can cause death.
•Work on electrical installations must be performed only by
electricians in accordance with the electrical regulations.
•Observe the general installation and safety regulations con-
cerning work on high-voltage systems.
•Lay electrical cables correctly, e.g. in a cable duct or cable pro-
tector. Observe standards.
•Before connecting or disconnecting electric cables, switch off
the power supply and check that 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 vol-
tage charges to dissipate (capacitor charge). Check that the de-
vice is deenergized before you start work.
•Before switching on the product, check whether the protective
conductor on all electrical components has been installed cor-
rectly according to the connection diagram.
•Check whether covers and safety equipment to prevent contact
with live components have been installed.
•Do not touch the connecting elements of the product when 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
can trigger a shock reaction which may lead to injuries.
•The operator must ensure that all components and assembly
groups are included in the local equipotential bonding in line
with the applicable regulations.
•The equipotential bonding must be implemented by a specialist
electrician in line with the applicable regulations while paying
particular attention to the actual conditions in the working en-
vironment.
•The effectiveness of the equipotential bonding must be verified
by regular safety measurements.
2.12.4

Basic safety notes
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15
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 sys-
tems are mounted, started up and operated.
•Persons with pace-makers, metal implants, metal shards or
hearing aids required the consent of a physician before enter-
ing areas in which motor parts with permanent magnets are
stored, repaired 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 con-
trol system. A special additional EMC test may be necessary if
the system has a high risk potential.
2.12.5

Basic safety notes
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01.00|PW V6 |en
Notes on particular risks
DANGER
Danger from electric voltage!
Touching live parts can result in death.
•Switch off the power supply before any assembly, adjustment
or maintenance work and secure against being switched back
on again.
•Only qualified electricians should perform electrical installa-
tions.
•Check if de-energized, ground it and hot wire.
•Cover up 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.
•Use suitable protective equipment.
WARNING
Risk of injury from objects falling and being ejected
During operation, falling or ejected objects may cause serious
injuries or death.
•The danger zone must be surrounded by a safety fence during
operation.
WARNING
Risk of injury due to unexpected movement of the ma-
chine/system!
Components may move unexpectedly and cause injuries if the pow-
er supply is still on or if there is residual energy in the system left.
•Switch off power supply.
•Ensure that no residual energy remains in the system.
2.13

Basic safety notes
01.00|PW V6 |en
17
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
•Wear suitable protective clothing when working on the prod-
uct.
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.
•Use suitable protective equipment.
WARNING
Risk of injury from objects falling during energy supply failure!
Electronic devices are not fail-safe. In case of failure of the ener-
gy, the gripping force decreases. Thereby it can not be guaran-
teed that the workpiece is held safely.
•The user is responsible that the drive reverts to a safe state,in
case of energy failure.

Warranty
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01.00|PW V6 |en
Warranty
If the product is used as intended, the warranty is valid for 24
months from the date of delivery from the production facility un-
der the following conditions:
•Observe the environmental and operating conditions (2.5,
Page 8)
•Observe the mandatory maintenance and lubrication
intervals.(10, Page 52)
Parts touching the work piece and wearing parts are not part of
the warranty.
3

Accessories
01.00|PW V6 |en
19
Scope of delivery
The scope of delivery includes
•Servo-electric rotary pan-tilt actuator PW V6
in the ordered model
•M5 plug for RS232 interface
•Adaptor cable, USB to M5 plug (length 2 m)
•DVD
Contents of DVD:
•Motion Tool Schunk (MTS) configuration and commissioning
tool
•Software manual –Motion Control
•Firmware Manager
•Assembly and operating manual
•USB driver
Accessories
The following accessories, which are to 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 about which accessories can be used with the ap-
propriate product version see catalog.
4
5

Technical data
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01.00|PW V6 |en
Technical data
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
Axis 1
Nominal torque [Nm]
12.0
23.0
Maximum torque [Nm]
24.0
46.0
Angle of rotation [°]
± 120
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]
1440
960
Max. angular velocity [°/s]
360
240
Electrical operating data
Nominal voltage [VDC]
24
Nominal power current [A]
4
Max. current [A]
8
Control electronics
Power supply [VDC]
24
Interface
CAN bus [max. 1 Mbit/s]
Profibus DP [1.5 Mbit/s]
RS232, parameterization interface
X
X
X
X
X
X
More technical data are included in the catalog data sheet. Whi-
chever is the latest version.
6
6.1