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
2
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
01.00|PW V6 |en
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
4
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
01.00|PW V6 |en
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
6
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
01.00|PW V6 |en
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
8
01.00|PW V6 |en
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
01.00|PW V6 |en
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
10
01.00|PW V6 |en
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