SCHUNK EGL Series User instructions

Translation of the original operating manual
Assembly and Operating Manual
EGL
2-finger parallel gripper
Firmware 3.x

Imprint
2
06.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights
reserved. Any reproduction, processing, distribution (making available to third parties),
translation or other usage - even excerpts - of the manual is especially prohibited and
requires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 1012097
Version: 06.00-FW3.x|11/02/2020|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear Customer,
thank you for trusting our products and our family-owned company, the leading
technology supplier of robots and production machines.
Our team is always available to answer any questions on this product and other solutions.
Ask us questions and challenge us. We will find a solution!
Best regards,
Your SCHUNK team
SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. [phone]
Fax [phone]
[email protected]
schunk.com

Table of Contents
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Table of Contents
1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................ 5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Applicable documents ..............................................................................6
1.1.3 Sizes ..........................................................................................................6
1.1.4 Variants.....................................................................................................6
1.2 Warranty .............................................................................................................. 6
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 ........................................................................................ 9
2.4 Spare parts ........................................................................................................... 9
2.5 Gripper fingers ..................................................................................................... 9
2.6 Ambient conditions and operating conditions .....................................................9
2.6.1 Electromagnetic compatibility..................................................................9
2.6.2 Environmental conditions.......................................................................10
2.6.3 Insulation resistance and voltage resistance in accordance with EN 60204-1...11
2.7 Personnel qualification....................................................................................... 11
2.8 Personal protective equipment.......................................................................... 12
2.9 Notes on safe operation ..................................................................................... 12
2.10 Transport ............................................................................................................ 12
2.11 Malfunctions....................................................................................................... 13
2.12 Disposal .............................................................................................................. 13
2.13 Fundamental dangers......................................................................................... 13
2.13.1 Protection during handling and assembly ..............................................13
2.13.2 Protection during commissioning and operation ...................................14
2.13.3 Protection against dangerous movements.............................................14
2.13.4 Protection against electric shock............................................................15
2.13.5 Protection against magnetic and electromagnetic fields .......................16
2.14 Notes on particular risks..................................................................................... 17
3 Technical data.........................................................................................................19
3.1 Basic data ........................................................................................................... 19
3.2 Diagrams............................................................................................................. 20
4 Design and description............................................................................................22
4.1 Design ................................................................................................................. 22
4.2 Description ......................................................................................................... 22
4.3 Interfaces and service windows ......................................................................... 23
4.3.1 LED..........................................................................................................25

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4.3.2 DIP switch ...............................................................................................28
4.4 Functional principle ............................................................................................ 29
5 Assembly and settings ............................................................................................30
5.1 Assembling and connecting................................................................................ 30
5.2 Connections........................................................................................................ 32
5.2.1 Mechanical connection...........................................................................32
5.2.2 Electrical connection ..............................................................................34
5.3 Connecting ground cable.................................................................................... 39
5.4 Combining several products (PROFIBUS, CAN bus) ............................................ 40
5.5 Setting the baud rate (CAN bus)......................................................................... 40
5.6 Configuring PROFIBUS or CAN bus .....................................................................41
6 Start-up ..................................................................................................................43
6.1 Systemintegration .............................................................................................. 43
6.1.1 SCHUNK Drive Protocol (SDP).................................................................43
6.1.2 SCHUNK Motion protocol (SMP) ............................................................43
6.1.3 Notes on the compatibility of Motion Tool Schunk (MTS) and firmware... 43
6.2 Commissioning the product ............................................................................... 44
6.3 PROFINET............................................................................................................ 45
6.3.1 Types of communication of PROFINET ...................................................45
6.3.2 Operating behavior of the product.........................................................46
6.3.3 Commissioning with PROFINET interface ...............................................46
6.3.4 Projecting of the regulator .....................................................................47
7 Operation ...............................................................................................................55
7.1 Special feature with Firmware 3.03.................................................................... 55
7.2 Perform quick test .............................................................................................. 56
7.3 Change parameter configuration on the product with USB stick....................... 58
7.4 Updating firmware ............................................................................................. 59
7.4.1 Update via USB Mini AB (device)............................................................59
7.4.2 Update via USB Micro AB (host) .............................................................60
8 Trouble shooting.....................................................................................................64
8.1 Communication malfunction.............................................................................. 65
8.2 Product moves in a jerky fashion, is sluggish or blocked.................................... 66
8.3 Product does not open ....................................................................................... 66
9 Maintenance ..........................................................................................................67
9.1 Maintenance intervals........................................................................................ 67
9.2 Disassembly and assembling .............................................................................. 67
10 EU-Declaration of Conformity .................................................................................68
11 Translation of original declaration of incorporation ................................................69
12 Annex to Declaration of Incorporation....................................................................70

General
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1 General
1.1 About this manual
This manual contains important information for a safe and
appropriate use of the product.
This manual is an integral part of the product and must be kept
accessible for the personnel at all times.
Before starting work, the personnel must have read and
understood this operating manual. Prerequisite for safe working is
the observance of all safety instructions in this manual.
Illustrations in this manual are provided for basic understanding
and may differ from the actual product design.
In addition to these instructions, the documents listed under
Applicable documents [}6] are applicable.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Danger for persons!
Non-observance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
CAUTION
Material damage!
Information about avoiding material damage.

General
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1.1.2 Applicable documents
• General terms of business *
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
• "SCHUNK Motion Tool (MTS)" software manual *
• "SCHUNK Motion Protocol (SMP)" software manual *
• "SCHUNK Drive Protocol (SDP)" software manual *
• For EGL PROFINET / EGL PROFIBUS: Quick guide *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.1.3 Sizes
This operating manual applies to the following sizes:
• EGL 90
1.1.4 Variants
This operating manual applies to the following variations:
• EGL PROFINET
• EGL PROFIBUS
• EGL CAN bus
1.2 Warranty
The warranty is valid for 24 months or a maximum of 10million
cycles * from the date of delivery from the production facility if
used as intended under the following conditions:
• Observe the ambient conditions and operating conditions,
Ambient conditions and operating conditions [}9]
• Observe the specified maintenance and lubrication intervals,
Maintenance [}67]
Parts touching the workpiece and wear parts are not included in
the warranty.
* One cycle consists of a complete gripping process: "Open
gripper" (release workpiece) and "Close gripper" (grip workpiece).

General
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1.3 Scope of delivery
The scope of delivery includes
• 2-finger parallel gripper EGL in the version ordered,
firmware 3.x
• USB cable mini A
• USB cable micro B
• DVD
• 2 x centering sleeve Ø 10 x 6.65
• 4 x centering sleeve Ø 8 x 5.35
Contents of DVD:
• "SCHUNK Motion Tool (MTS)" configuration and commissioning
tool
• "SCHUNK Motion Tool (MTS)" software manual
• "SCHUNK Motion Protocol (SMP)" software manual
• "SCHUNK Drive Protocol (SDP)" software manual
• "Firmware Updater" tool
• Assembly and operating manual
• USB driver
• Parameter data set
1.4 Accessories
The following accessories, which must be ordered separately, are
required for the product:
• Power cable
• Data cable
– PROFIBUS, PROFINET or CAN-Bus
• Termination resistor
– PROFIBUS or CAN bus
A wide range of accessories are available for this product
For information regarding which accessory articles can be used
with the corresponding product variants, see catalog data sheet.

Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product is used solely for gripping, holding and releasing
dimensionally stable workpieces with low elasticity within load
limits. For permissible load values, see the catalog datasheet.
• The product may only be used within the scope of its technical
data, Technical data [}19].
• The product is intended for installation in a machine/system.
The applicable guidelines must be observed and complied with.
• The product is intended for industrial use.
• Appropriate use of the product includes compliance with all
instructions in this manual.
2.2 Not intended use
The product is not being used as intended if, for example:
• The product is used outside of the load limits.
• The product is used for impermissible workpieces.
• The product is used by untrained personnel or not in the
intended environment.
• The product is used for the following applications:
– Direct gripping/holding/releasing of living beings
– Gripping/holding/releasing of food items
– Clamping device for workpieces and lathe chucks
– Tool guide
– Machining tools, forexample pressing, punching, cutting tool
– Operation without separating protective equipment,
forexample human-robot collaboration (HRC)
– Welding applications, forexample welding robot
– Gripping/holding/releasing magnetic clamping plates
– Inductive hardening
– Radar or plasma applications
Any utilization that exceeds or differs from the appropriate use is
regarded as misuse.

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.
• Structural changes should only be made with the written
approval of SCHUNK.
2.4 Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and
damage the product or cause it to malfunction.
• Use only original spare parts or spares authorized by SCHUNK.
2.5 Gripper fingers
Requirements for the gripper fingers
Stored energy within the product creates the risk of serious
injuries and significant property damage.
• Arrange the gripper fingers in a way that the product reaches
either the position "open" or "closed" in a de-energized state.
• Only exchange the gripper fingers when no residual energy
remains in the product.
• Make sure that the product and the top jaws are a sufficient
size for the application.
2.6 Ambient conditions and operating conditions
Required ambient conditions and operating conditions
Incorrect ambient and operating conditions can make the product
unsafe, leading to the risk of serious injuries, considerable material
damage and/or a significant reduction to the product's life span.
• Make sure that the product is used only in the context of its
defined application parameters, Technical data [}19].
2.6.1 Electromagnetic compatibility
The product conforms to the requirements of the EMC directive
EU2014/30 and satisfies the requirements of the following
standards:
Standard Title
EN 61000-6-2 (2005) Immunity for industrial environments
EN 61000-6-3 (2011) Interference emissions in residential,
commercial, industrial and light industrial
environments
EN 61000-6-4 (2007) Emission standard for industrial
environments

Basic safety notes
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2.6.2 Environmental conditions
Transport and storage requirements
For transport and storage of product in original packaging, the
following requirements apply:
• Loading and unloading with mechanical aids
• Ambient temperature from -40°C to +70°C
• Air humidity up to max. 85%
Operational requirements
The following requirements apply for operation of the product:
• Ambient temperature from +5°C to +55°C
• Air humidity up to max. 65%
According to DIN EN 60068-2-6 and DIN EN 60068-2-27, in
accordance with EN 60721-3-2 and EN 60721-3-3, the product was
subjected to a vibration and shock inspection during transport and
in operation with respect to the ambient influences and
withstands the required loads.
The product may only be used in the following locations if
additional measures are taken:
• In locations with a high level of ionizing radiation
• In locations with difficult operating conditions, e.g. due to
caustic fumes, gases, oils or chemicals
• In facilities requiring special monitoring, e.g. in particularly at-
risk areas
• In applications during which the product is exposed to
unacceptably severe knocking or vibrations Suitable measures
must be taken to reduce the amplitude or acceleration of such
disturbances. Vibration-damping or vibration-absorbing systems
are to be used in such cases.
The product must also not be used in potentially explosive zones.

Basic safety notes
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2.6.3 Insulation resistance and voltage resistance in accordance with
EN 60204-1
When measuring the insulation resistance and inspecting the
voltage resistance of the machine/automated system, observe the
following information in order to protect the product from damage:
• The electronics are connected to the housing ground, in order
to protect against overvoltage.
• For measurements of the insulation resistance in accordance
with EN 60204-1, no voltage levels above the permitted
operating voltage range may be used. In addition, the maximum
measuring current must be safely limited to values below 10mA.
• Before testing the voltage resistance of the machine/automated
system in accordance with EN 60204-1, disconnect the product
from the electric circuits to be tested. This applies to all
connections on the product:
– positive and negative connections of the power and logic
supply
– Fieldbus connections
– USB interface
2.7 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.

Basic safety notes
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2.8 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.
2.9 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.
2.10 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.

Basic safety notes
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2.11 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.
2.12 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.
2.13 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.
2.13.1 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.

Basic safety notes
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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.
2.13.2 Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• Take appropriate protective measures to secure the danger
zone.
• Never step into the danger zone during operation.
2.13.3 Protection against dangerous movements
Unexpected movements
Residual energy in the system may cause serious injuries while
working with the product.
• Switch off the energy supply, ensure that no residual energy
remains and secure against inadvertent reactivation.
• The faulty actuation of conected drives may cause dangerous
movements.
• Operating mistakes, faulty parameterization during
commissioning or software errors may trigger dangerous
movements.
• Never rely solely on the response of the monitoring function to
avert danger. Until the installed monitors become effective, it
must be assumed that the drive movement is faulty, with its
action being dependent on the control unit and the current
operating condition of the drive. Perform maintenance work,
modifications, and attachments outside the danger zone
defined by the movement range.
• To avoid accidents and/or material damage, human access to
the movement range of the machine must be restricted. Limit/
prevent accidental access for people in this area due through
technical safety measures. The protective cover and protective
fence must be rigid enough to withstand the maximum possible
movement energy. EMERGENCY STOP switches must be easily
and quickly accessible. Before starting up the machine or
automated system, check that the EMERGENCY STOP system is
working. Prevent operation of the machine if this protective
equipment does not function correctly.

Basic safety notes
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2.13.4 Protection against electric shock
Work on electrical equipment
Touching live parts may result in death.
• Work on the electrical equipment may only be carried out by
qualified electricians in accordance with the electrical
engineering regulations.
• Lay electrical cables properly, e. g. in a cable duct or a cable
bridge. Observe standards.
• Before connecting or disconnecting electrical cables, switch off
the power supply and check that the cables are free of voltage.
Secure the power supply against being switched on again.
• Before switching on the product, check that the protective
earth conductor is correctly attached to all electrical
components according to the wiring diagram.
• Check whether covers and protective devices are fitted to
prevent contact with live components.
• Do not touch the product's terminals when the power supply is
switched on.
Possible electrostatic energy
Components or assembly groups may become electrostatically
charged. When the electrostatic charge is touched, the discharge
may trigger a shock reaction leading to injuries.
• The operator must ensure that all components and assembly
groups are included in the local potential equalisation in
accordance with the applicable regulations.
• While paying attention to the actual conditions of the working
environment, the potential equalisation must be implemented
by a specialist electrician according to the applicable
regulations.
• The effectiveness of the potential equalisation must be verified
by executing regular safety measurements.

Basic safety notes
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2.13.5 Protection against magnetic and electromagnetic fields
Work in areas with magnetic and electromagnetic fields
Magnetic and electromagnetic fields can lead to serious injuries.
• Persons with pace-makers, metal implants, metal shards, or
hearing aids require the consent of a physician before entering
areas in which components of the electric drive and control
systems are mounted, started up, and operated.
• Persons with pace-makers, metal implants, metal shards, or
hearing aids require the consent of a physician before entering
areas in which magnetic grippers or motor parts with
permanent magnets are stored, repaired, or assembled.
• Do not operate high-frequency or radio devices in the proximity
of electric components of the drive system and their feed lines.
If the use of such devices is necessary:
When starting up the electric drive and control system, check
the machine or automated system for possible failures when
such systems are used at different intervals and in different
states of the control system. A special additional EMC test may
be necessary if the system has a high risk potential.

Basic safety notes
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2.14 Notes on particular risks
DANGER
Danger from electric voltage!
Touching live parts may result in death.
•Switch off the power supply before any assembly, adjustment
or maintenance work and secure against being switched on
again.
•Only qualified electricians may perform electrical installations.
•Check if de-energized, ground it and hot-wire.
•Cover live parts.
DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even death.
•Stand clear of suspended loads and do not step within their
swiveling range.
•Never move loads without supervision.
•Do not leave suspended loads unattended.
•Wear suitable protective equipment.
WARNING
Risk of injury from objects falling and being ejected!
Falling and ejected objects during operation can lead to serious
injury or death.
•Take appropriate protective measures to secure the danger
zone.
WARNING
Risk of injury due to unexpected movements!
If the power supply is switched on or residual energy remains in
the system, components can move unexpectedly and cause
serious injuries.
•Before starting any work on the product: Switch off the power
supply and secure against restarting.
•Make sure, that no residual energy remains in the system.

Basic safety notes
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WARNING
Risk of injury from crushing and impacts!
Serious injury could occur during the base jaw procedure and
when breaking or loosening the gripper fingers.
•Wear suitable protective equipment.
•Do not reach into the open mechanism or the movement area
of the product.
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
•Use suitable protective equipment.
WARNING
Risk of burns through contact with hot surfaces!
Surfaces of components can heat up severely during operation.
Skin contact with hot surfaces causes severe burns to the skin.
•For all work in the vicinity of hot surfaces, wear safety gloves.
•Before carrying out any work, make sure that all surfaces have
cooled down to the ambient temperature.
WARNING
Risk of injury from objects falling in the event of an energy
supply failure
In case of an energy supply failure, the gripping force decreases
and a secure hold on the gripped workpiece cannot be
guaranteed.
•Take suitable protective measures to secure the danger zone.

Technical data
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3 Technical data
3.1 Basic data
Mechanical operating data
Weight [kg] 1.8
Noise emission [dB(A)] ≤70
IP rating* 46
Ambient temperature [°C]
Min.
Max.
5
55
Brake
Brake available**
Internal motor operating data
Motor current at nominal gripping force [A] 4.25
Internal logic supply fuse ***
Value [A]
Tripping characteristic
1
time delay
Power supply
Logic voltage supply [VDC] 24 ±10%
Voltage supply output [VDC]
(stabilized and smoothed, internal reverse polarity
protection)
maximum current input (logic) [A]
maximum current input (power) of power supply unit [A]
24 ±10%
0.5
2.5
Interface
PROFINET [100MBit/s]
PROFIBUS [12MBit/s]
CAN bus [up to 1MBit/s]
USB Mini AB, device, parameterization interface
USB Micro AB, host
X
X
X
X
X
IMPORTANT!A product is supplied either with PROFINET,
PROFIBUS, or CAN bus.
* For use in dirty ambient conditions (e.g. sprayed water, vapors,
abrasion or processing dust) SCHUNK offers corresponding
product options as standard. SCHUNK also offers customized
solutions for special applications in dirty ambient conditions.
** The built-in, electric holding break is used for mounting and
holding the position of the gripper jaws in the event of a
power failure. It cannot cover all of the safety or gripping force
maintenance functions.
*** SCHUNK recommends: Littelfuse 1A time delay (0154001 .DRTL)
More technical data is included in the catalog data sheet.
Whichever is the latest version.

Technical data
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3.2 Diagrams
NOTE
The following diagrams refer to the motor current. This is internal
and is controlled via the SPS programming.
Gripping force diagram
The gripping force diagram shows the achievable gripping force at
15mm/s and 150mm/s with the relevant motor current.
Derating diagram