SCHUNK EGL User instructions

Assembly and Operating Manual
EGL
2-finger parallel gripper
Firmware 3.x
Translation of Original Operating
Manual

Imprint
2 10.00-FW3.x | EGL | Assembly and Operating Manual | en | 1012097
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: 1012097
Version: 10.00-FW3.x|07/12/2023|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 ............................................................................................. 6
1.1 About this manual............................................................................... 6
1.1.1 Presentation of Warning Labels ..................................................... 6
1.1.2 Definition of Terms ..................................................................... 6
1.1.3 Symbol definition....................................................................... 7
1.1.4 Applicable documents ................................................................. 7
1.1.5 Sizes........................................................................................ 7
1.1.6 Variants ................................................................................... 7
1.2 Warranty ........................................................................................... 8
1.3 Scope of delivery................................................................................. 8
1.4 Accessories ........................................................................................ 9
2 Basic safety notes ................................................................................ 10
2.1 Intended use...................................................................................... 10
2.2 Constructional changes......................................................................... 10
2.3 Spare parts ........................................................................................ 11
2.4 Gripper fingers .................................................................................. 11
2.5 Ambient conditions and operating conditions ........................................... 11
2.5.1 Electromagnetic compatibility ....................................................... 12
2.5.2 Environmental conditions ............................................................ 12
2.5.3 Insulation resistance and voltage resistance in accordance with EN
60204-1 ................................................................................... 13
2.6 Personnel qualification ........................................................................ 13
2.7 Personal protective equipment .............................................................. 14
2.8 Notes on safe operation........................................................................ 15
2.9 Transport........................................................................................... 15
2.10 Malfunctions ...................................................................................... 16
2.11 Disposal ............................................................................................ 16
2.12 Fundamental dangers .......................................................................... 16
2.12.1 Protection during handling and assembly ....................................... 17
2.12.2 Protection during commissioning and operation ............................... 17
2.12.3 Protection against dangerous movements ....................................... 18
2.12.4 Protection against electric shock.................................................... 19
2.12.5 Protection against magnetic and electromagnetic fields ..................... 20
2.13 Notes on particular risks ....................................................................... 21
3 Technical data ..................................................................................... 23
3.1 Name plate........................................................................................ 23
3.2 Basic data ......................................................................................... 24
3.3 Ambient conditions and operating conditions ........................................... 25

Table of contents
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3.4 Diagrams........................................................................................... 25
4 Design and description .......................................................................... 27
4.1 Design .............................................................................................. 27
4.2 Description ........................................................................................ 28
4.3 Interfaces and service windows.............................................................. 28
4.3.1 LED ......................................................................................... 30
4.3.2 DIP switch ................................................................................ 33
4.4 Functional principle............................................................................. 34
5 Assembly and settings ........................................................................... 35
5.1 Assembling and connecting................................................................... 35
5.2 Connections ....................................................................................... 37
5.2.1 Mechanical connection................................................................ 37
5.2.2 Electrical connection................................................................... 38
5.3 Connecting the ground cable (functional ground)....................................... 44
5.4 Combining several products (PROFIBUS, CAN bus) ........................................ 45
5.5 Setting the baud rate (CAN bus) .............................................................. 46
5.6 Configuring PROFIBUS or CAN bus............................................................. 46
6 Start-up ............................................................................................ 48
6.1 Systemintegration ............................................................................... 48
6.1.1 SCHUNK Drive Protocol (SDP) .......................................................... 48
6.1.2 SCHUNK Motion protocol (SMP)....................................................... 48
6.1.3 Notes on the compatibility of Motion Tool Schunk (MTS) and firmware ... 48
6.2 Commissioning the product ................................................................... 49
6.3 PROFINET ........................................................................................... 50
6.3.1 Types of communication of PROFINET .............................................. 50
6.3.2 Operating behavior of the product ................................................. 50
6.3.3 Commissioning with PROFINET interface........................................... 51
6.3.4 Projecting of the regulator ........................................................... 52
7 Operation........................................................................................... 60
7.1 Special feature with Firmware 3.03 ......................................................... 60
7.2 Perform quick test ............................................................................... 61
7.3 Change parameter configuration on the product with USB stick..................... 63
7.4 Updating firmware .............................................................................. 63
7.4.1 Update via USB Mini AB (device) .................................................... 64
7.4.2 Update via USB Micro AB (host)...................................................... 64
8 Trouble shooting.................................................................................. 68
8.1 Communication malfunction.................................................................. 68
8.2 Product moves in a jerky fashion, is sluggish or blocked .............................. 69
8.3 Product does not open ......................................................................... 69

Table of contents
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9 Maintenance ....................................................................................... 70
9.1 Maintenance intervals.......................................................................... 70
9.2 Disassembly and assembling ................................................................. 70
10 EU-Declaration of Conformity .................................................................. 71
11 Translation of the original declaration of incorporation ................................. 72
12 UKCA declaration of Conformity ................................................................ 73
13 UKCA declaration of incorporation ............................................................ 74
14 Information on the RoHS Directive, REACH Regulation and Substances of Very High
Concern (SVHC) ..................................................................................... 75

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 }1.1.4 [/7] 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.
1.1.2 Definition of Terms
The term "product" replaces the product name on the title page
in this manual.

General
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1.1.3 Symbol definition
The following symbols are used in this manual:
nPrerequisite for an action
1. Action 1
2. Action 2
ðIntermediate results
ðFinal results
}1.1.3 [/7]: chapter number and [page number] in hyperlinks
1.1.4 Applicable documents
lGeneral terms of business *
lCatalog data sheet of the purchased product *
lAssembly and operating manuals of the accessories *
l"SCHUNK Motion Tool (MTS)" software manual *
l"SCHUNK Motion Protocol (SMP)" software manual *
l"SCHUNK Drive Protocol (SDP)" software manual *
lFor EGL PROFINET / EGL PROFIBUS: Quick guide *
The documents labeled with an asterisk (*) can be downloaded
from schunk.com.
1.1.5 Sizes
This operating manual applies to the following sizes:
lEGL 90
1.1.6 Variants
This operating manual applies to the following variations:
lEGL PROFINET
lEGL PROFIBUS
lEGL CAN bus

General
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1.2 Warranty
The warranty is 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:
lObserve the ambient conditions and operating
conditions, }2.5 [/11]
lObserve the specified maintenance and lubrication
intervals, }9 [/70]
Parts touching the workpiece and wear parts are not included in
the warranty.
* A cycle consists of a complete gripping process: "Open gripper"
and "Close gripper".
1.3 Scope of delivery
The scope of delivery includes
l2-finger parallel gripper EGL in the version ordered, firmware
3.x
lUSB cable mini A
lUSB cable micro B
lQR slip for downloading the commissioning software
l2 x centering sleeve Ø 10 x 6.65
l4 x centering sleeve Ø 8 x 5.35
Scope of the commissioning software:
l"SCHUNK Motion Tool (MTS)" configuration and commissioning
tool
l"SCHUNK Motion Tool (MTS)" software manual
l"SCHUNK Motion Protocol (SMP)" software manual
l"SCHUNK Drive Protocol (SDP)" software manual
lFirmware updater
lAssembly and Operating Manual
lUSB driver
lParameter data set

General
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1.4 Accessories
The following accessories, which must be ordered separately, are
required for the product:
lPower cable
lData cable
– PROFIBUS, PROFINET or CAN-Bus
lTermination 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.
lThe product may only be used within the scope of its technical
data, }3 [/23].
lThe product is intended for installation in a machine/
automated system. The applicable guidelines for the machine/
automated system must be observed and complied with.
lThe product is intended for industrial and industry-oriented
use. Its use outside enclosed spaces is only permitted if
suitable protective measures are taken against outdoor
exposure. The product is not suitable for use in salty air.
lThe product can be used within the permissible load limits
and technical data for holding workpieces during simple
machining operations, but is not a clamping device according
to EN 1550:1997+A1:2008.
lThe product may only be used within the scope of its technical
data, }3 [/23].
lAppropriate use of the product includes compliance with all
instructions in this manual.
lAny utilization that exceeds or differs from the appropriate
use is regarded as misuse.
2.2 Constructional changes
Implementation of structural changes
Modifications, changes or reworking, e.g.additional threads,
holes, or safety devices, can damage the product or impair its
functionality or safety.
lStructural changes should only be made with the written
approval of SCHUNK.

Basic safety notes
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2.3 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.
2.4 Gripper fingers
Requirements of gripper fingers
Accumulated energy can make the product unsafe and risk the
danger of serious injuries and considerable material damage.
lExecute the gripper fingers in such a way that the product
reaches either the "open" or "closed" position in a de-
energized state.
lOnly change gripper fingers if no residual energy can be
released.
lMake sure that the product and the top jaws are a sufficient
size for the application.
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 [/23].

Basic safety notes
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2.5.1 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
2.5.2 Environmental conditions
Transport and storage requirements
For transport and storage of product in original packaging, the
following requirements apply:
lLoading and unloading with mechanical aids
lAmbient temperature from -40°C to +70°C
lAir humidity up to max. 85%
Operational requirements
The following requirements apply for operation of the product:
lAmbient temperature from +5°C to +55°C
lAir 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:
lIn locations with a high level of ionizing radiation
lIn locations with difficult operating conditions, e.g. due to
caustic fumes, gases, oils or chemicals
lIn facilities requiring special monitoring, e.g. in particularly
at-risk areas
lIn 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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2.5.3 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:
lThe electronics are connected to the housing ground, in order
to protect against overvoltage.
lFor 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.
lBefore 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
2.6 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.
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.

Basic safety notes
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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
environmental protection regulations regarding the product's
application 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.

Basic safety notes
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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.
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.
lFollow 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.

Basic safety notes
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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.
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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2.12.3 Protection against dangerous movements
Unexpected movements
Residual energy in the system may cause serious injuries while
working with the product.
lSwitch off the energy supply, ensure that no residual energy
remains and secure against inadvertent reactivation.
lThe faulty actuation of conected drives may cause dangerous
movements.
lOperating mistakes, faulty parameterization during
commissioning or software errors may trigger dangerous
movements.
lNever 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.
lTo 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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2.12.4 Protection against electric shock
Work on electrical equipment
Touching live parts may result in death.
lWork on the electrical equipment may only be carried out by
qualified electricians in accordance with the electrical
engineering regulations.
lLay electrical cables properly, e. g. in a cable duct or a cable
bridge. Observe standards.
lBefore 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.
lBefore switching on the product, check that the protective
earth conductor is correctly attached to all electrical
components according to the wiring diagram.
lCheck whether covers and protective devices are fitted to
prevent contact with live components.
lDo 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.
lThe operator must ensure that all components and assembly
groups are included in the local potential equalisation in
accordance with the applicable regulations.
lWhile 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.
lThe effectiveness of the potential equalisation must be
verified by executing regular safety measurements.

Basic safety notes
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2.12.5 Protection against magnetic and electromagnetic fields
Work in areas with magnetic and electromagnetic fields
Magnetic and electromagnetic fields can lead to serious injuries.
lPersons 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.
lPersons 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.
lDo 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.