SCHUNK EOA-UR3510-EGL90 User instructions

Translation of Original Operating Manual
Assembly and Operating Manual
ID 1392477 or 1403607
Gripping Unit - EOA-UR3510-EGL90 or EOA-UR3510-EGL90-AUB

Imprint
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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: 1405195
Version: 01.00|14/08/2019|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
1.2 Warranty .............................................................................................................. 7
1.3 Scope of delivery .................................................................................................. 8
2 Basic safety notes ................................................................................................... 9
2.1 Intended use......................................................................................................... 9
2.2 Not intended use.................................................................................................. 9
2.3 Spare parts ......................................................................................................... 10
2.4 Gripper fingers ................................................................................................... 10
2.5 Ambient conditions and operating conditions ...................................................10
2.6 Personnel qualification....................................................................................... 11
2.7 Personal protective equipment.......................................................................... 12
2.8 Notes on safe operation .....................................................................................12
2.9 Transport ............................................................................................................ 13
2.10 Malfunctions....................................................................................................... 13
2.11 Disposal .............................................................................................................. 13
2.12 Fundamental dangers......................................................................................... 14
2.12.1 Protection during handling and assembly ..............................................14
2.12.2 Protection during commissioning and operation ...................................15
2.12.3 Protection against dangerous movements.............................................15
2.12.4 Protection against electric shock............................................................16
2.12.5 Protection against burns ........................................................................16
2.13 Notes on particular risks..................................................................................... 17
3 Technical data.........................................................................................................19
3.1 Basic data ........................................................................................................... 19
3.2 Ambient conditions and operating conditions ...................................................21
4 Design.....................................................................................................................22
4.1 Complete unit..................................................................................................... 22
4.2 Gripping unit EGL................................................................................................ 23
5 Assembly ................................................................................................................24
5.1 Installing and connecting.................................................................................... 24
5.2 Connections........................................................................................................ 25
5.2.1 Mechanical connection...........................................................................25
5.2.2 Electrical connection ..............................................................................28
5.3 Installing gripper fingers..................................................................................... 33
5.3.1 Installing clamping inserts ......................................................................33

Table of Contents
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6 Start-up ..................................................................................................................36
6.1 "URCap" software............................................................................................... 36
6.1.1 Functional description ............................................................................36
6.1.2 Compatibility with UR robots .................................................................36
6.2 Installing the software component .................................................................... 37
6.3 Connecting the robot with a network ................................................................ 40
6.4 Establishing a connection to the gripper............................................................ 41
6.5 Configuring the gripper ...................................................................................... 42
6.6 Creating the robot program ............................................................................... 44
6.6.1 Selecting and configuring commands.....................................................45
6.7 Monitoring the gripper status ............................................................................ 53
7 Trouble shooting.....................................................................................................56
7.1 Communication malfunction.............................................................................. 56
7.2 Product moves in a jerky fashion, is sluggish or blocked.................................... 56
7.3 Product does not open ....................................................................................... 57
8 Maintenance ..........................................................................................................58
8.1 Maintenance intervals........................................................................................ 58
8.2 Disassembly and assembling .............................................................................. 58
9 Spare parts and wearing parts ................................................................................59
10 EU-Declaration of Conformity .................................................................................60
11 Translation of original declaration of incorporation ................................................61
12 Annex to Declaration of Incorporation....................................................................62

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
The applicable documents can be found on the enclosed CD.
Content of the CD
Documentation Parallel Gripper EGL* Annex 1
Software manual "Motion Control SCHUNK"* Annex 2
"SCHUNK Drive Protocol (SDP)" software manual* Annex 3
Connection diagram Annex 4
Drawing Annex 5
The documents marked with an astrisk (*) can be downloaded on
the following homepages:
* schunk.com
Drawings (see annex)
Drawing-No. Designation
3 77624 01 0 00 Assembly drawing Gripping Unit EOA-UR3510-EGL90-AUB
3 77624 02 0 00 Assembly drawing Gripping Unit EOA-UR3510-EGL90
NOTE
In addition observe the relevant documentation for the deployed
robot.

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:
• Observe the specified maintenance and lubrication intervals
• Observe the ambient conditions and operating conditions
Parts touching the workpiece and wear parts are not included in
the warranty.
The warranty does not cover:
• Damage occurring as a result of incorrect operation.
• Claims under warranty are excluded when repair or intervention
is carried out by persons not authorized to do so.
• This also applies if accessories and spare parts are used which
are not designed for our unit.

General
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1.3 Scope of delivery
The scope of delivery includes
• Gripping Unit - EOA-UR3510-EGL90 or EOA-UR3510-EGL90-AUB
ID 1392477 or 1403607 in the version ordered
• Top jaw set (only for EOA-UR3510-EGL90-AUB)
• USB stick with URCap and Assembly and Operating Manual
• Power cable*
• Communication cable*
• USB cable Mini A**
• USB cable Micro B**
• Assembly and Operating Manual EGL, firmware 3.X**
• Commissioning card EGL Profinet**
• DVD**
• Accessory kit
Content of the accessory pack:
• Tool for assembly on the robot
• Velcro cable ties (provisional cabling)
* pre-assembled on the gripper
** not required for use on the UR robot

Basic safety notes
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2 Basic safety notes
2.1 Intended use
The gripper unit was designed as a version of the UR kit for
attachment to a robot with ISO-50 interface. The gripper unit with
integrated valves and sensor interface is used in the robot
application. The customer must integrate top jaws with which
workpieces can be gripped, held and released safely.
• The product may only be used within the scope of its technical
data, Technical data [}19].
• When implementing and operating components in safety-
related parts of the control systems, the basic safety principles
in accordance with DIN EN ISO 13849-2 apply. The proven safety
principles in accordance with DIN EN ISO 13849-2 also apply to
categories 1, 2, 3 and 4.
• 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 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.

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.
• Use only original spare parts or spares authorized by SCHUNK.
2.4 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.
2.5 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.
• Make sure that the product is used only in the context of its
defined application parameters, Technical data [}19].

Basic safety notes
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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.
• 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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2.7 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.
• 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.
2.8 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.
• 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.

Basic safety notes
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2.9 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.
2.10 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.
2.11 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.
• Follow local regulations on dispatching product components for
recycling or proper disposal.

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2.12 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.
2.12.1 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.
• 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.

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.
• Take appropriate protective measures to secure the danger
zone.
• Never step into the danger zone during operation.
2.12.3 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.
• 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.

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2.12.4 Protection against electric shock
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.
2.12.5 Protection against burns
Working with hot surfaces
Depending on the circumstances the surface of the product can
get very hot and cause burns when touching it.
• Do not touch hot surfaces, such as brake resistors, heat sinks,
drive units, windings and sheet metals.
• Let the surface cool down before working with it. After
switching off the cool-down time of some components can
average up to an hour.
• Wear protection gloves.

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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.
•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.
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
•Use suitable protective equipment.
WARNING
Risk of injury due to uncontrolled movements!
In case of malfunction of sensors, pneumatic valves, electro
distributors or bus systems, uncontrolled movements of the
product may cause serious injuries.
•Connect sensors, pneumatic valves, electro distributors and
bus systems correctly.
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.

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WARNING
Danger of injury due to uncontrolled movements!
Due to incorrect control and incorrect operation, loss of
workpieces and uncontrolled movement of the product may
occur and can cause serious injuries.
•Take checks in the user's program.
•The danger zone must be secured by suitable measures.
WARNING
Risk of injury due to falling parts!
Due to broken screw connections or material fault parts may fall
down and cause serious injuries.
•Surround the danger zone with a safety fence.
•Wear appropriate safety equipment.

Technical data
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3 Technical data
3.1 Basic data
EOA-UR3510-EGL90-AUB EOA-UR3510-EGL90
Mechanical operating data
Dimension Assembly drawing
Drawing-No.
37762401000
Drawing-No.
37762402000
Weight [kg] 2.57 2.13
Center of gravity with regard to robot flange center
X -0.71mm -0.86mm
Y -0.04mm -0.05mm
Z 74.49mm 56.03mm
Tool Center Point (TCP)
X/Y/Z 0/0/205.3 0/0/119.3
Internal motor operating data
Motor current at max. gripping force [A] 4.25
(corresponds to 100%)
IMPORTANT!If the product is operated with the voltage supply of the robot, the
maximum permitted gripping force is 70%. If a gripping force > 70% is required or other
devices are connected to the voltage supply, we recommend the use of an external
power supply unit (e.g. SCHUNK ID 31001408).
Gripping force [N]
Min.
Max.
50
600
Logic supply fuse internal*
Value [A]
Tripping characteristic
1
time delay
Power supply
Logic voltage supply [VDC] 24 ± 10%
Power voltage supply [VDC]
(stabilized and smoothed, internal reverse
polarity protection)
24 ± 10%
maximum current input (logic) [A] 2.0
maximum current input (power) from
power supply unit [A]
2.5
Interface
PROFINET [100MBit/s]
USB Mini AB, device,
parameterization interface
USB Micro AB, host
X
X
X
* SCHUNK recommends: Littelfuse 1A time delay (0154001 .DRTL)

Technical data
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Illustration of coordinate system for TCP and center of gravity
Dimensions and maximum loads
Mx(max.) 20Nm
My(max.) 20Nm
Mz(max.) 20Nm
Fz(max.) 400N
The indicated moments and forces are static values, apply for each
base jaw, and may occur simultaneously. My may arise in addition
to the moment generated by the gripping force itself.
More technical data is included in the catalog data sheet.
Whichever is the latest version.