SCHUNK ERM Series User instructions

Translation of Original Operating Manual
Assembly and Operating Manual
ERM
Electric Rotary Module with Servo Motor

Imprint
2 03.00 | ERM | Assembly and Operating Manual | en | 0389540
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights
reserved.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389540
Version: 03.00|09/01/2023|en
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
Customer Management
Tel. [phone]
Fax [phone]
[email protected]
Please read the operating manual in full and keep it close to the product.

Table of Contents
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
1.1.3 Variants.................................................................................................... 6
1.2 Warranty.............................................................................................................. 7
1.3 Scope of delivery.................................................................................................. 7
1.4 Accessories........................................................................................................... 7
2 Basic safety notes ....................................................................................................8
2.1 Intended use ........................................................................................................ 8
2.2 Not intended use ................................................................................................. 8
2.3 Constructional changes........................................................................................ 8
2.4 Environmental and operating conditions ............................................................ 8
2.5 Personnel qualification ........................................................................................ 9
2.6 Personal protective equipment ........................................................................... 9
2.7 Notes on safe operation .................................................................................... 10
2.8 Transport............................................................................................................ 10
2.9 Malfunctions ...................................................................................................... 10
2.10 Disposal.............................................................................................................. 11
2.11 Fundamental dangers ........................................................................................ 11
2.11.1 Protection during handling and assembly ............................................. 11
2.11.2 Protection during commissioning and operation .................................. 11
2.11.3 Protection against dangerous movements............................................ 12
2.11.4 Protection against electric shock ........................................................... 12
2.12 Notes on particular risks .................................................................................... 14
3 Technical Data ........................................................................................................18
3.1 Type Key and Name Plate .................................................................................. 18
3.2 Basic data........................................................................................................... 18
4 Design and Description ...........................................................................................20
5 Transport and storage.............................................................................................21
5.1 Transport............................................................................................................ 21
5.2 Storage............................................................................................................... 21
6 Assembly ................................................................................................................22
6.1 Twist transmission housing................................................................................ 22
6.2 Mount servo motors .......................................................................................... 24
6.3 Mount rotary module onto a machine/system ................................................. 26
6.4 Electrical connection.......................................................................................... 29
7 Start-up ..................................................................................................................30
7.1 Adjusting the movement and control parameters, and the exact limits in the
controller ........................................................................................................... 31
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Table of Contents
8 Troubleshooting .....................................................................................................35
8.1 Module does not move? .................................................................................... 35
8.2 Does the module not provide the correct rotating angle? ................................ 35
8.3 Torque drops...................................................................................................... 35
8.4 Does module rotate jerkily or overshoot end position? .................................... 36
8.5 Does module overshoot significantly at end positions? .................................... 36
8.6 Is module turning too quickly / too slowly?....................................................... 36
9 Maintenance ..........................................................................................................37
9.1 Disassemble servo motor and motor adapter ................................................... 40
9.2 Replacing the media feed-through seals ........................................................... 42
9.3 Mount seals of the media feed-through with the assembly device ERM 160-MDF
........................................................................................................................... 44
9.4 Oil Change.......................................................................................................... 48
9.5 Replace radial shaft sealing rings....................................................................... 50
10 Disposal..................................................................................................................51
11 Translation of the original declaration of incorporation ..........................................53
12 UKCA declaration of incorporation..........................................................................54
13 Annex to declaration of Incorporation ....................................................................55
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General
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.
In addition to these instructions, the documents listed
under }1.1.2 [/6] are applicable.
NOTE: The illustrations in this manual are intended to provide a
basic understanding and may deviate from the actual version.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Dangers 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.
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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 *
The documents labeled with an asterisk (*) can be downloaded
from schunk.com.
1.1.3 Variants
This operating manual applies to the following variations:
• ERM 160-8-CB-B
• ERM 160-8-CB-B with motor add-on kit supplied separately
• ERM160-8-CB-MSK050B

General
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 maximum service life. }3 [/18]
• Observe the ambient conditions and operating
conditions, }2.4 [/8]
• Observe the specified maintenance and lubrication
intervals, }9 [/37]
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
• Electric rotary module in the version ordered.
• Assembly and Operating Manual
• Assembly and operating manual for motor used
• Accessory pack
1.4 Accessories
The following accessories, which must be ordered separately, are
required for the product:
• Motor add-on kit (included in scope of delivery for the version
with a standard motor)
• Servo motor (included in scope of delivery for the version with a
standard motor)
• Controller
• Cable set
Optional accessories
• Sealing kit for rotary feed-through
• Maintenance kit for rotary feed-through
• Sealing kit with radial shaft sealing rings
• Maintenance kit for radial shaft sealing rings
I.D. numbers of the sealing and maintenance kits, }9 [/38]
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Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product may only be used for turning, swivelling and
positioning workpieces or other automation components.
The product is exclusively designed for linear movement of useful
loads into any position where the load does not react in a manner
endangering persons, property or the environment as a result of
this manipulation.
• The product may only be used within the scope of its technical
data, }3 [/18].
• The product is intended for installation in a machine/automated
system. The applicable guidelines for the machine/automated
system 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 Environmental and operating conditions
• Make sure that the product is a sufficient size for the
application.
• Ensure that maintenance and lubrication intervals are
observed, }9 [/37].
• Ensure the environmental conditions are suitable for products
with the indicated protection types, }3 [/18].
• Make sure that the product's range of application is outside the
explosive area. Excepted are products which were designed for
explosive areas.

Basic safety notes
2.5 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.
2.6 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.
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Basic safety notes
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2.7 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.
2.8 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.
2.9 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
2.10 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.
2.11 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.
2.11.1 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.
2.11.2 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.
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Basic safety notes
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2.11.3 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.
2.11.4 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.

Basic safety notes
• 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.
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Basic safety notes
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2.12 Notes on particular risks
WARNING
Risk of injury from objects falling and being ejected!
Falling objects and objects being ejected can cause severe
injuries.
•Ensure that the danger zone is enclosed by protective fencing
during operation.
•Mount the product onto the machine and the motor and the
attachments onto the product with extra care.
•Adjust the operating conditions, e.g. reduce speed and
acceleration, comply with exact limits.
•Take particular care when laying out the components.
•Make sure the correct screws and tightening torques are
used.
•Wear protective clothing during assembly.
WARNING
Risk of injury due to moving parts coming into proximity with
stationary parts!
Moving components may cause severe injuries. Body parts may
get crushed and bruised.
•Ensure that the danger zone is enclosed by protective fencing
during operation.
•Exercise particular caution during start-up.

Basic safety notes
WARNING
Risk of injury due to sudden and unexpected movement of the
machine/system!
When the energy supply fails or the components malfunction,
parts may move unexpectedly and cause severe injuries.
•Only expert personnel may operate.
•Ensure that the danger zone (rotation of the add-on parts by a
full 360°) is enclosed by protective fencing during operation.
•Exercise particular caution during start-up (selection of
movement and control parameters, setting of drive limits,
caution during cabling and wiring).
•Take any additional movements and forces acting on the
rotary module from outside into account.
•Exercise particular caution when restarting after motor/
controller reference loss or after disassembly of the
attachments/module from the machine. Provide
acknowledgment of the error message after a reference loss.
•Disassembly of the attachments/the module from the
machine is only to be carried out in a defined position. Ensure
re-assembly of attachments with correct alignment after
maintenance / disassembly.
•Fit a holding brake on the motor. The motor holding brake is
not suitable for personnel protection.
•Avoid an uncontrolled emergency stop (application of the
holding brake during movement). The motor holding brake is
not suitable for an emergency stop.
•Fit external holding devices if disassembly of the motor is
necessary while the attachments are in a position with
potential residual energy.
•Operation in EMC-safe environment and in a suitable
environment in accordance with specified protection
class, }3 [/18].
•Avoiding jamming (forexample, due to presence of large
interfering particles between the attachments and the rotary
module housing) or impacts on interfering contours.
•Avoid thermal overload in the motor.
•Only transfer suitable media through the media feed-through.
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Basic safety notes
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WARNING
Risk of injury due to endless movement!
•Ensure that the danger zone is enclosed by protective fencing
during operation.
•Prevent destruction of attachments and their energy supply
(cables/hoses) using suitable guides/feed-throughs and
movement limits.
•Check the position status (reference) of the motor sensor
before starting.
WARNING
Risk of injury from electric shock due to contact with live parts!
•Observe the motor operating manual.
•Before conducting any work on the machine and peripheral
equipment, disconnect them from the power supply (load and
logic voltage) and secure them against re-activation.
•Wait until the frequency converter/controller is discharged.
WARNING
Risk of burns due to contact with hot surfaces!
During operation, the surface temperatures of components
(forexample, engine and housing) may reach over 100°C.
•Observe the motor operating manual.
•Prior to starting work on the module, allow it to cool down to
no more than 40°C. If the cooling down time cannot be
maintained, wear protective gloves.
WARNING
Risk of injury due to rotating components!
•Ensure that the danger zone (rotation of the add-on parts by
360°) is enclosed by protective fencing during operation.
•Exercise particular caution during start-up.
WARNING
Risk of injury from inhaling harmful vapors!
•Leave the danger zone in the event of fire or smoldering in the
electronic system immediately.
•Ensure sufficient ventilation.

Basic safety notes
WARNING
Risk of injury due to escaping hydraulic oil!
•Carry out a regular visual inspection for leaks.
•Replace defective seals immediately.
•Never remove the loss prevention device on the transmission
housing.
•Do not open the locking screws.
•Place a collecting trough underneath when changing the oil.
•Observe the speed and temperature limits.
WARNING
Risk of injury due to escaping media!
•Only transfer suitable media through the media infeed.
•Regularly monitor seal.
•Replace defective seals immediately.
•Observe the speed and temperature limits.
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Technical Data
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3 Technical Data
3.1 Type Key and Name Plate
ERM 160 - CB - 090 -B
Size
160
Number of media feed-throughs
8
Range of functions
CB: with center bore
Transmission attachment direction
090
Motor version
B: Basic version without motor MSK050B: with motor MSK050B-0300-NN-M1-UG1-NNNN
8 -
i Gear ratio
M max, in Maximum input
torque
n max, in Maximum drive
speed
3.2 Basic data
Variant ERM160-MDF-090-B ERM160-MDF-090-
MSK050B
Weight [kg] 15.5 21.5
Maximum permissible output side load
moment of inertia [kgm²]
20 20
Max. permissible input torque [Nm] 2.3* 2.3 *
Max. permissible drive speed [rpm] 3000 * 3000 *
Max. permissible input torque for emergency
stop [Nm]
5 */** 5 */**
Transmission ratio 48 48
Pressure medium Compressed air, compressed air quality
according to ISO 8573-1:7 4 4
Max. media feed-through pressure [bar] 8 8

Technical Data
Variant ERM160-MDF-090-B ERM160-MDF-090-
MSK050B
Gear mass moment of inertia (relative to drive)
[kgm²]
0.000063 0.000063
Max. permissible axial force Fz [N] 3000 3000
Max. permissible radial force Fx [N] 1500 1500
Max. permissible moment load capacity My
[Nm]
450 450
Ambient temperature [°C]
Min.
Max.
+5
+55
+5
+55
IP rating 65 65
* Values relate to the rotary module input shaft
**Can occur a maximum of 100 times
Warranty
Designation ERM
Warranty duration [months] 24
or maximum cycles [mil.]* 10
*) A cycle consists of two swivel processes: 0° to 180° and 180° to 0°
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Design and Description
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4 Design and Description
1 Main module
2 Output flange (flange shaft) with compressed air connections for rotary feed-
through
3 Transmission housing (twistable)
4 Drive shaft
5 Distributor flange for rotary feed-through with center bore
(compressed air connections on bottom)
The torque of the motor is transferred from the driving shaft via
the two-stage hypoid gearing to the output flange.
The media feed-through enables compressed air to be fed from
the connection on the distributor flange to the connection on the
output flange.
The alignment of the transmission housing is adjustable in 4x90°
increments (before mounting of the module or attachments).