SCHUNK CMS 050 User instructions

Assembly and operating manual
CMS
Manual change system
Translation of Original Operating
Manual

Imprint
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Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK SE & Co. KG.
All rights reserved.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 1553577
Version: 01.00|26/06/2023|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]
[e-mail]
Please read the operating manual in full and keep it close to the product.

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
1.1.3 Sizes........................................................................................ 6
1.1.4 Variants ................................................................................... 6
1.2 Warranty ........................................................................................... 7
1.3 Accessories ........................................................................................ 7
1.4 Scope of delivery................................................................................. 7
2 Basic safety notes ................................................................................ 8
2.1 Intended use...................................................................................... 8
2.2 Not intended use ................................................................................ 8
2.3 Constructional changes......................................................................... 9
2.4 Spare parts ........................................................................................ 9
2.5 Ambient conditions and operating conditions ........................................... 9
2.6 Personnel qualification ........................................................................ 9
2.7 Personal protective equipment .............................................................. 10
2.8 Notes on safe operation........................................................................ 11
2.9 Transport........................................................................................... 11
2.10 Malfunctions ...................................................................................... 11
2.11 Disposal ............................................................................................ 12
2.12 Fundamental dangers .......................................................................... 12
2.12.1 Protection during handling and assembly ....................................... 12
2.12.2 Protection during commissioning and operation ............................... 13
2.13 Notes on particular risks ....................................................................... 14
3 Technical data ..................................................................................... 15
4 Design and description .......................................................................... 16
4.1 Design .............................................................................................. 16
4.2 Description ........................................................................................ 16
5 Assembly............................................................................................ 17
5.1 Installing and connecting ..................................................................... 17
5.2 Mechanical connection......................................................................... 18
5.3 Mounting inductive proximity switch IN 30K-S-M8 ..................................... 20
5.4 Attachment options for optional modules................................................. 21

Table of Contents
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6 Operation........................................................................................... 22
6.1 Unlocking .......................................................................................... 22
6.2 Locking ............................................................................................. 23
7 Maintenance ....................................................................................... 24
7.1 Notes................................................................................................ 24
7.2 Maintenance intervals.......................................................................... 24
7.3 Lubricants/Lubrication points................................................................. 24
7.4 Spare and wearing parts....................................................................... 25
8 EU declaration of conformity ................................................................... 27
9 UKCA Declaration of Conformity ................................................................ 28
10 Information on the RoHS Directive, REACH Regulation and Substances of Very High
Concern (SVHC) ..................................................................................... 29

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.
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.
CAUTION
Material damage!
Information about avoiding material damage.

General
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1.1.2 Applicable documents
lGeneral terms of business *
lCatalog data sheet of the purchased product *
The documents labeled with an asterisk (*) can be downloaded
from schunk.com.
1.1.3 Sizes
This operating manual applies to the following sizes:
lCMS 040
lCMS 050
lCMS 063
lCMS 080
lCMS 100
lCMS 125
1.1.4 Variants
This operating manual applies to the following variations:
lCMS -K: Manual change head
lCMS -A: Manual change adapter
lCMS -A-N: Manual change adapter with special bolt-on
pattern (same pitch circle, larger thread)
lCMS -K-B: Manual change head basic version without
integrated air feed-throughs and without monitoring options
lCMS -A-B: Manual change head basic version without
integrated air feed-throughs

General
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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:
lObserve the specified maintenance and lubrication intervals
lObserve the ambient conditions and operating conditions
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Accessories
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.
1.4 Scope of delivery
The scope of delivery includes
lManual change head CMS-K or manual change adapter CMS-A
in the version ordered
lAccessory kit (not with basic version -B)
– Locking screws for radial air feed-throughs (number and
dimensions vary depending on size)
– O-rings for axial feed-through (number and dimensions
vary depending on size)

Basic safety notes
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2 Basic safety notes
2.1 Intended use
lThe manual change system CMS consisting of a manual change
head CMS-K and a manual change adapter CMS-A is intended
for rapid changing of parts and automation components, e.g.
grippers on a robot.
lThe manual change system CMS is not part of the load.
lThe manual change head CMS-K is mounted on an industrial
robot. The manual change adapter CMS-A is mounted on the
end effector.
lCMS-A and CMS-K are connected with a quick-release system.
lConnection of optional modules to head and adapter and
inductive sensors to head (not with basic version).
Operating conditions lUse in covered or closed areas
lUse in non-explosive areas
lPass through air only. No corrosive and flammable gases
permitted.
lThe product may only be used within the scope of its technical
data, }3 [/15].
lThe product is intended for industrial and industry-oriented
use.
lAppropriate use of the product includes compliance with all
instructions in this manual.
2.2 Not intended use
Any use that exceeds or differs from the appropriate use is
regarded as misuse. This includes in particular:
lUse of the CMS as lifting equipment
lOutdoor use
lUse in potentially explosive areas

Basic safety notes
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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.
lStructural 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.
lUse 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.
lMake sure that the product is used only in the context of its
defined application parameters, }3 [/15].
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.
lAll work may only be performed by qualified personnel.
lBefore working with the product, the personnel must have
read and understood the complete assembly and operating
manual.
lObserve the national safety regulations and rules and general
safety instructions.

Basic safety notes
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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.
lWhen working on and with the product, observe the
occupational health and safety regulations and wear the
required personal protective equipment.
lObserve the valid safety and accident prevention regulations.
lWear protective gloves to guard against sharp edges and
corners or rough surfaces.
lWear heat-resistant protective gloves when handling hot
surfaces.
lWear protective gloves and safety goggles when handling
hazardous substances.
lWear 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.
lAvoid any manner of working that may interfere with the
function and operational safety of the product.
lUse the product as intended.
lObserve the safety notes and assembly instructions.
lDo not expose the product to any corrosive media. This does
not apply to products that are designed for special
environments.
lEliminate any malfunction immediately.
lObserve the care and maintenance instructions.
lObserve the current safety, accident prevention and environ-
mental protection regulations regarding the product's applic-
ation 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.
lWhen handling heavy weights, use lifting equipment to lift
the product and transport it by appropriate means.
lSecure the product against falling during transportation and
handling.
lStand clear of suspended loads.
2.10 Malfunctions
Behavior in case of malfunctions
lImmediately remove the product from operation and report
the malfunction to the responsible departments/persons.
lOrder appropriately trained personnel to rectify the
malfunction.
lDo not recommission the product until the malfunction has
been rectified.
lTest 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.
l
Follow local regulations on dispatching product components for
recycling or proper disposal.
2.12 Fundamental dangers
General
lObserve safety distances.
lNever deactivate safety devices.
lBefore commissioning the product, take appropriate
protective measures to secure the danger zone.
lDisconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy
remains in the system.
lIf the energy supply is connected, do not move any parts by
hand.
lDo 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.
lHave all work carried out by appropriately qualified
personnel.
lFor all work, secure the product against accidental operation.
lObserve the relevant accident prevention rules.
lUse 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.
lStand clear of suspended loads and do not step into their
swiveling range.
lNever move loads without supervision.
lDo 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.
lTake appropriate protective measures to secure the danger
zone.
lNever step into the danger zone during operation.

Basic safety notes
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2.13 Notes on particular risks
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.
lBefore starting any work on the product: Switch off the power
supply and secure against restarting.
lMake sure, that no residual energy remains in the system.
WARNING
Risk of crushing due to objects falling or thrown out!
If a component breaks during operation or when pressure drops,
the load can no longer be held. Items may fall or be thrown out,
causing serious injury..
lCheck the product for damage before operation. Repair if
necessary.
lObserve the maintenance intervals.
lDo not operate the product with defective and / or damaged
seals. Replace defective and / or damaged seals immediately.
lTake appropriate protective measures to secure the danger
zone.
WARNING
Risk of crushing due to objects falling or thrown out!
If the maximum permissible load is exceeded, the product can no
longer hold the load. This load can be thrown out and lead to
serious injuries.
lEnsure that the permissible load is not exceeded.
lTake appropriate protective measures to secure the danger
zone.
WARNING
Danger of crushing due to falling objects!
When transporting, assembling, disassembling and servicing, the
product may fall down if the position changes unintentionally
and result in serious injury.
lWear suitable protective equipment.

Technical data
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3 Technical data
Designation CMS
040 050 063 080 100 125
Pitch diameter [mm] 40 50 63 80 100 125
CMS-K Weight [kg] 0.16 0.27 0.49 0.75 1.52 3.09
CMS-K-B Weight [kg] 0.16 0.27 0.49 0.77 1.52 3.18
CMS-AWeight [kg] 0.09 0.14 0.27 0.43 1.04 1.72
CMS-A-N Weight [kg] 0.09 0.14 0.27 0.42 1.03 1.7
CMS-A-B Weight [kg] 0.09 0.15 0.3 0.47 1.11 1.85
Repeatability [mm] <0.02 <0.02 <0.02 <0.02 <0.02 <0.02
Max. dynamic torsional moment [Nm] 15 27 48 75 230 465
Max. dynamic bending moment [Nm] 22.5 35 75 115 230 478
Max. dynamic tensile force [N] 350 450 500 800 1200 1500
Pneumatic feed-through (max. 8 bar) 4 x M5 6 x M5 6 x
G1/8"
9 x
G1/8"
12 x
G1/8"
12 x
G1/4"
Permitted loading assuming the following conditions
More technical data is included in the catalog data sheet.
Whichever is the latest version.

Design and description
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4 Design and description
4.1 Design
1 Manual change head CMS-K (robot-side)
2 Lock bolt
3 Fitting for cylindrical pin for angular alignment
4 Manual change adapter CMS-A (gripper-side, end effector)
5 Hand lever
6 Suspended bolt
4.2 Description
The manual change system CMS, consisting of a manual change
head CMS-K and a manual change adapter CMS-A, can be locked
and unlocked with a hand lever.
The lock bolt, which can be operated via the hand lever,
connects CMS-K and CMS-A fast, free from play and form-fitting.
Integrated pneumatic feed-throughs reliably supply the tool with
compressed air and vacuum.
For vacuum feed-through, the lip seals must be rotated.

Assembly
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5 Assembly
5.1 Installing and connecting
WARNING
Risk of injury due to improperly carried out assembly!
Improperly carried out assembly work can lead to severe injuries
and property damage.
lBefore beginning work, ensure sufficient assembly clearance.
lSecure components from falling down or over.
lEnsure that all work has been carried out in accordance with
the specifications in these instructions.
lObserve tightening torques.
1. Check the evenness of the mounting surface, }5.2 [/18].
2. Attach the product to the robot, }5.2 [/18].
ðObserve the maximal tightening torque, admissible
screw-in depth and, if necessary, strength class.
3. Mount sensors if necessary, }5.3 [/20].
4. Mount optional modules if necessary, }5.4 [/21]

Assembly
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5.2 Mechanical connection
Evenness of the
mounting surface
The values apply to the whole mounting surface to which the
product is mounted.
Edge length Permissible unevenness
< 100 < 0.02
> 100 < 0.05
Tab.: Requirements for evenness of the mounting surface (Dimensions in mm)
Adapter plate
requirements
An adapter plate can be used for mounting the CMS-K on the
robot and the end effector on the CMS-A. An adapter plate is
necessary if the screw connection pattern of the CMS has to be
adapted to the customer's equipment (robot flange, end
effector). IMPORTANT!Only use adapter plates if they have bore
holes and recesses that match the product exactly. Precise
assembly is a prerequisite for proper functioning.
The adapter plate must meet the following requirements:
lThe adapter plate requires bores for the mounting screws with
sufficient thread depth for mounting on the robot.
lThe adapter plate requires centering recesses for dowel pins
with sufficient depth so that no gap is created during
assembly.
lDepending on the robot flange, the adapter plate requires a
centering plate on the robot side and a centering recess at the
interface to the CMS-K robot side.
lDepending on the end effector, the adapter plate requires a
centering plate on the CMS-A tool side and a centering recess
at the interface to the end effector.
lFor sizes with an external piston stroke control, the adapter
plate requires a recess adapted to the sensor outlet.
The catalog data sheet contains detailed information and precise
manufacturing instructions for possible adapter plate design.
NOTE
The manual change head and adapter (CMS-K and CMS-A) have a
drilling pattern as per DIN ISO 9409-1 and can therefore be
mounted on most robots without additional adapter plates.
Screws are not included in the scope of delivery!

Assembly
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Size Fitting of
CMS-K CMS-K-B CMS-A CMS-A-B CMS-A-N
040 below matching ISO 9409-1-40-4-M6 Ø40, 4x M8
above - Ø40, 4x M4 Ø40, 4x M6
063 below matching ISO 9409-1-50-4-M6 Ø50, 4x M8
above - Ø50, 4x M4 Ø50, 4x M6
100 below matching ISO 9409-1-63-4-M6 Ø63, 4x M8
above - Ø63, 4x M4 Ø63, 4x M6
050 below matching ISO 9409-1-80-6-M8 Ø80, 4x M10
above - Ø80, 4x M6 Ø80, 4x M8
080 below matching ISO 9409-1-100-6-M8 Ø100, 4x M10
above - Ø100, 4x M6 Ø100, 4x M8
125 below matching ISO 9409-1-125-6-M10 Ø125, 6x M12
above - Ø125, 6x M8 Ø125, 6x M10

Assembly
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5.3 Mounting inductive proximity switch IN 30K-S-M8
NOTE
Observe the assembly and operating manual of the sensor for
mounting and connecting.
The product is prepared for the use of the inductive sensor
IN 30K-S-M8.
lFor technical data for the suitable sensors, see Assembly and
Operating Manual and catalog data sheet.
– The Assembly and Operating Manual and catalog data
sheet are included in the scope of delivery for the sensors
and are available at schunk.com.
lInformation on handling sensors is available at schunk.com or
from SCHUNK contact persons.
1. Slide sensors(1) up to the stop in the groove.
2. Insert the clamping bracket(2) into the groove.
3. Tighten screws(3).
ðMax. tightening torque: 0.2Nm