SCHUNK SVH User instructions

Assembly and Operating Manual
SVH
Servo-electric 5-Finger Gripping Hand
Translation of Original Operating
Manual

Imprint
2 04.00 | SVH | Assembly and Operating Manual | en | 389734
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: 389734
Version: 04.00|01/06/2023|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 Symbol definition....................................................................... 6
1.1.3 Definition of Terms ..................................................................... 6
1.1.4 Variants ................................................................................... 6
1.1.5 Applicable documents ................................................................. 6
1.2 Warranty ........................................................................................... 7
1.3 Scope of delivery................................................................................. 7
1.4 Accessories ........................................................................................ 7
2 Basic safety notes ................................................................................ 8
2.1 Intended use...................................................................................... 8
2.2 Consequences of inappropriate use ......................................................... 8
2.3 Ambient conditions and operating conditions ........................................... 9
2.4 Product safety .................................................................................... 9
2.4.1 Protective equipment.................................................................. 10
2.4.2 Structural changes, attachments and modifications........................... 10
2.5 Personnel qualification ........................................................................ 10
2.6 Personal protective equipment .............................................................. 11
2.7 Notes on particular risks ....................................................................... 12
2.8 Notes for integrators ............................................................................ 13
3 Technical data ..................................................................................... 15
3.1 Outer dimensions................................................................................ 15
3.2 Basic data ......................................................................................... 15
3.3 Electrical operating data ....................................................................... 16
3.4 Name plate........................................................................................ 16
4 Design and description .......................................................................... 17
5 Assembly and installation....................................................................... 19
5.1 Mounting to a robot or moving unit ........................................................ 20
5.2 System requirements for commissioning .................................................. 23
6 Operation........................................................................................... 24
6.1 Homing............................................................................................. 24
6.2 Operation .......................................................................................... 25
7 Troubleshooting................................................................................... 26
7.1 Communication via USB interrupted ........................................................ 26
7.2 Communication via Ethernet interrupted.................................................. 26

Table of contents
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7.3 Fingers are colliding ............................................................................ 26
7.4 SVH is not reacting, not moving or stops suddenly...................................... 26
7.5 Unusual noise during operation ............................................................. 26
8 Maintenance ....................................................................................... 27
9 Translation of the original declaration of incorporation ................................. 28
10 UKCA declaration of incorporation ............................................................ 29
11 Information on the RoHS Directive, REACH Regulation and Substances of Very High
Concern (SVHC) ..................................................................................... 30

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 }1.1.5 [/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 Symbol definition
The following symbols are used in this manual:
nPrerequisite for an action
1. Action 1
2. Action 2
ðIntermediate results
ðFinal results
}1.1.2 [/6]: chapter number and [page number] in hyperlinks
1.1.3 Definition of Terms
The term "product" replaces the product name on the title page
in this manual.
1.1.4 Variants
This operating manual applies to the following variations:
lSVH right
lSVH left
1.1.5 Applicable documents
lGeneral terms of business see
schunk.com/downloads
lSVH_Protocoll_Specification see
http://wiki.ros.org/schunk_svh_driver?
action=AttachFile&do=get&target=svh_protocol_specification.pdf
lFor information on ROS (Robot Operating System) drivers, see
– ROS 1: https://github.com/fzi-forschungszentrum-
informatik/schunk_svh_ros_driver
– ROS2: https://github.com/fzi-forschungszentrum-
informatik/schunk_svh_ros_driver/tree/ros2-foxy
lFor information on commissioning the product with
RaspberryPi, see
https://github.com/fzi-forschungszentrum-informatik/
schunk_svh_ros_driver/blob/main/doc/raspberry_pi.md :
github.com

General
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1.2 Warranty
If the product is used as intended, the warranty is valid for 12
months from the ex-works delivery date under the following
conditions:
lObserve the specified maintenance intervals, }8 [/27]
lObserve the ambient conditions and operating
conditions, }2.3 [/9]
Parts touching the workpiece and wear parts are not included in
the warranty.
After the warranty period has expired, SCHUNK can no longer
guarantee safety features without first performing a maintenance
service.
1.3 Scope of delivery
The scope of delivery includes
lServo-electric 5-Finger Gripping Hand SVH in the version
ordered
lTranslation of operating manual
lZarges boxes (packaging material)
The appropriate software can be downloaded from schunk.com/
downloads-software/.
1.4 Accessories
The following accessories are available for this product:
lFlat change head FWK115

Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product features a multi-functional design intended for
gripping objects ranging from 1-850 g.
It is important to ensure that no fragile, sharp or sharp-edged
objects, or objects with an edge length of over 50 cm are
handled.
lGripping objects of a higher weight is only permitted after
consultation with the manufacturer.
lThe product is intended for installation in a machine. The
requirements of the applicable guidelines and standards must
be observed and complied with. If applicable, it may be
required to provide proof of safety for the machine to be
used. The safety features of this product were established/
certified only for use as described in this operating manual.
The safety-related information contained in the "Electrical
equipment of machines" standard (DIN EN 60204) must be
observed. Commissioning is only permitted in compliance with
EMC directives (2014/30/EU) and the Electromagnetic Compatibility
Regulations 2016.
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.
lFor appropriate use of this unit, it is essential to observe the
technical data and assembly and operation notes in this
manual and to comply with the maintenance intervals.
2.2 Consequences of inappropriate use
The safety of the product cannot be guaranteed in the event of
inappropriate use (i.e. actions carried out in a manner that is not
compliant with this operating manual). It is possible for the
safety of this product to be permanently impaired/damaged as
the result of one single inappropriate use.
Examples of inappropriate use include the product being used as
a press tool, being overloaded, or being used in an environment
that is not low-dust/dry.

Basic safety notes
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2.3 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].
lMake sure that the product is a sufficient size for the
application.
lMake sure that the environment is free from splash water and
vapors as well as from abrasion or processing dust. Exceptions
are products that are designed especially for contaminated
environments.
2.4 Product safety
The product can pose hazards, for example, if:
lthe product is not used as intended.
lthe product is not installed or maintained properly.
lthe maintenance or assembly instructions are not observed.
Avoid any manner of working that may interfere with the
function and operational safety of the product.
Wear protective equipment.
NOTE
You can find more detailed information in the corresponding
chapters.
NOTE
The availability of the safety functions is ensured only after a
full system start.

Basic safety notes
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2.4.1 Protective equipment
Provide protective equipment per EC Machinery Directive.
2.4.2 Structural changes, attachments and modifications
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.
2.5 Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently
qualified, the result may be serious injuries and significant
property damage.
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.
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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2.6 Personal protective equipment
Use of personal protective equipment
Personal protective equipment serves to protect staff against
danger which may interfere with their health or safety at work.
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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2.7 Notes on particular risks
Generally valid:
lRemove the energy supplies before installation, modification,
maintenance, or adjustment work.
lMake sure that no residual energy remains in the system.
lDo not move parts by hand when the energy supply is
connected.
lDo not reach into the open mechanism or the movement area
of the unit.
lPerform maintenance, modifications, and additions outside
the danger zone.
lSecure the product during all operations against uncontrolled
activation.
lTake a precautionary approach by maintenance and
disassembly.
lOnly specially trained staff should disassemble the product.
lEnsure that the operating personnel are fit for use.
WARNING
Risk of injury from unexpected movements of the machine/
system!
WARNING
Risk of injury due to hot surfaces.
In high ambient temperatures, it is possible for the product to be
exposed to excessive heat, causing the surfaces to become hot.
lWear protective gloves.
lAllow the product to cool to at least 40°C before touching it.
WARNING
Risk of injury due to sudden movements in case of EMC
malfunctions!
If the EMC directive is not observed when connecting the product,
malfunctions in the control units and drives can cause
unexpected machine movements.
lObserve the EMC directive when connecting the product.

Basic safety notes
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WARNING
In case of overload, risk of injury due to sudden movements!
If the product is overloaded, the integrated brake will no longer
function properly. This may result in sudden machine
movements.
lOperate the product within the specifications defined at all
times.
WARNING
In case of product malfunction, risk of injury due to sudden
movements!
Electrical devices are not generally protected against failure.
lTherefore, the user is responsible for ensuring that the
machine is brought into a safe state in case of product
malfunction.
WARNING
Risk of injury due to sudden movements in case of electrical
malfunctions!
Electrical malfunctions can lead to sudden movements in the
machine.
lDuring transport and handling, do not bend any of the
components or change the insulation clearance.
lTo avoid damage due to electrostatic charges, do not touch
the electrical components.
lProperly execute all grounding, fastening and cabling work in
accordance with applicable regulations.
2.8 Notes for integrators
lThe integrator must verify that the safety-related parts of the
control units meet PL "d" with category3 structure, as long as
a different classification has not emerged from the risk
analysis performed by the integrator.
lIf the product is used on a robot with removable devices and
collaborative operation (e.g. wireless emergency stop), the
requirements for this must be verified by the integrator.

Basic safety notes
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lThe integrator must verify that the static and dynamic forces
that are produced jointly by the load and the end effectors
are within the robot's load bearing capacity and dynamic
performance levels.
lThe settings for commissioning the robot must be specified/
factored in by the integrator.
lThe trade association requirements for hazard and injury
prevention in workplaces using collaborative robots must be
factored in and verified by the integrator.
lThe trade association requirements for the medical fitness and
professional qualifications of operating personnel for
collaborative robots must be considered and verified by the
integrator.
lThe HRC robot is to be checked for correct installation after
any dangerous collisions. Dangerous collisions means those
that are not covered under normal conditions of use (e.g. if
the user actively collides with or presses against the product
contrary to the instructions for use)
lThe integrator must equip the HRC robot system with a
category0 emergency stop pursuant to IEC60204 -1, which
also disables the product.

Technical data
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3 Technical data
3.1 Outer dimensions
Dimensions
The right and left hands are laterally inverted. The dimensions
are identical.
3.2 Basic data
Designation SVH
Right Left
Overall length [mm] 242.5
Hand width [mm] 92
Max. finger width [mm] 19.6
Weight [kg] 1.3
IP rating 20
Min. ambient temperature [°C]
Max. ambient temperature [°C]
10
40
Noise emission [dB(A)] <60
Number of joints 20

Technical data
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3.3 Electrical operating data
Designation SVH
Power supply 24 V DC ±5%
Max. current input 3.5 A
Sensor system -
Interfaces lFWA115 flat change system
lRS 485
3.4 Name plate
The name plate is placed in the interior on the heat sink.

Design and description
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4 Design and description
The 5‐finger gripping hand SVH is a servo-electric gripping
module with integrated control and regulation electronics that is
largely a recreation of the human hand.
The product is designed to be attached to a standard LWA4P or
LWA4D lightweight arm.
The defined mechanical and electrical interface also makes it
possible to attach it to other commercially available industrial
and lightweight robots.
The product must always be operated within its technical
specifications, }3 [/15].
Two designs are available, corresponding to the right and left
human hands. The dimensions and operating data are identical
for both designs.
Overall view of the 5-finger gripping hand SVH
1 fingers 3 Wrist
2 Thumbs 4 Flat change system
The product is suitable for mobile applications due to its design
and low power consumption, including with an accumulator
power supply.
Possible movements include:
lBending and extending the fingers
lSpreading out the hand
lPivoting and bending the thumb
A slip-resistant, elastic gripping surface on the fingers and
thumbs allow objects to be gripped securely.
A total of nine drive motors control the movements of the fingers
and thumb.

Design and description
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The control and power electronics are integrated into the wrist.
Attaching it to a lightweight arm or to another application is
possible via the SCHUNK flat change system.
Power supply and control cables are connected with spring
contacts via the flat change system's adapter boards.
The product can operate on an assembly board or on another
piece of equipment (connection via the FWK115-ISO flat change
system), }5 [/19]. The flat change system is available as an
accessory from SCHUNK.

Assembly and installation
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5 Assembly and installation
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.
CAUTION
Risk of damage when using screws that are too long!
lObserve the maximum depth of engagement permitted for
the mounting screws.
CAUTION
Risk of damage when using unsuitable connecting elements!
lSCHUNK recommends using SCHUNK connecting elements.
CAUTION
Risk of operational malfunction due to torn or pinched lines!
If electrical lines are too short or installed incorrectly, they may
become pinched or torn by the movement of the module.
lFactor in operating movements when connecting the module.
CAUTION
Risk of operational malfunction due to short circuit or incorrect
connections!
lBefore connecting, ensure that the electrical lines are
deenergized.
lBe sure to distribute the clamps correctly.

Assembly and installation
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CAUTION
Permanent damage to the electronics possible!
lIf the power supply is separated, carry out potential
equalization between the two supply voltages (join the
grounds).
lOnly the positive pole may be switched off; the GND motor
cable must always remain connected.
NOTE
A power supply unit must be used that is capable of supplying
sufficient power for the product. Make sure the dimensions of
the cable cross-section are sufficient when installing the cables.
5.1 Mounting to a robot or moving unit
CAUTION
Risk of injury due to the workpiece falling!
In the event of a power failure or incorrect gripping process, the
gripped workpiece may fall.
lEnsure that the gripping process is performed correctly with a
suitable gripping force.
lKeep distance.
lWear safety boots.
CAUTION
Risk of injury if the product is torn from the robot arm or
moving unit!
If the mounting process has not been performed properly, the
product may come loose from the robot arm.
lMount the flat change system properly.
lTighten the lateral cylindrical screw to the clamping ring with
a spanner wrench.