SCHUNK EMH Series User instructions

Translation of the original manual
Assembly and Operating Manual
EMH
Electro-permanent magnetic gripper

Imprint
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02.00 | EMH | Assembly and Operating Manual | en | 1393220
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: 1393220
Version: 02.00|22/08/2019|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 Definition of Terms...................................................................................6
1.1.3 Applicable documents ..............................................................................6
1.1.4 Sizes ..........................................................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 6
1.4 Accessories ........................................................................................................... 6
2 Basic safety notes ................................................................................................... 7
2.1 Appropriate use.................................................................................................... 7
2.2 Not intended use.................................................................................................. 7
2.3 Constructional changes ........................................................................................ 7
2.4 Spare parts ........................................................................................................... 7
2.5 Ambient conditions and operating conditions .....................................................8
2.6 Personnel qualification......................................................................................... 8
2.7 Personal protective equipment............................................................................ 9
2.8 Notes on safe operation ....................................................................................... 9
2.9 Transport ............................................................................................................ 10
2.10 Malfunctions....................................................................................................... 10
2.11 Disposal .............................................................................................................. 10
2.12 Fundamental dangers......................................................................................... 10
2.12.1 Protection during handling and assembly ..............................................11
2.12.2 Protection during commissioning and operation ...................................11
2.12.3 Protection against dangerous movements.............................................11
2.12.4 Protection against electric shock............................................................12
2.12.5 Protection against magnetic and electromagnetic fields .......................13
3 Technical data.........................................................................................................14
3.1 Basic data ........................................................................................................... 14
4 Design and description............................................................................................15
4.1 Structure............................................................................................................. 15
4.2 Description ......................................................................................................... 16
4.3 Magnetic suitability of the workpiece material.................................................. 17
4.4 Factors influencing the holding force ................................................................. 18

Table of Contents
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5 Assembly ................................................................................................................19
5.1 Installing and connecting.................................................................................... 19
5.2 Mechanical connection ...................................................................................... 19
5.3 Electrical connection .......................................................................................... 20
5.3.1 Power connection pin allocation ............................................................21
5.3.2 Logic connection pin allocation ..............................................................21
6 Commissioning .......................................................................................................22
6.1 Adjusting the holding force ................................................................................ 23
6.2 Signal sequence "Product magnetization" ......................................................... 24
6.3 Signal sequence "Product ready for operation" ................................................. 25
7 Troubleshooting .....................................................................................................26
7.1 Product remains inoperable even after the power supply is turned on ............26
7.2 LED Ready does not light up............................................................................... 26
7.3 LED Error flashes................................................................................................. 26
7.4 Workpiece is detached from the product .......................................................... 27
7.5 Demagnetization was not performed correctly. ................................................ 27
8 Maintenance ..........................................................................................................28
8.1 Maintenance intervals........................................................................................ 28
8.2 Check and repair the product............................................................................. 28
9 Translation of original declaration of incorporation ................................................29
10 Annex to Declaration of Incorporation....................................................................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.
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 Definition of Terms
The term "product" replaces the product name on the title page in
this manual.
1.1.3 Applicable documents
• General terms of business *
• Catalog data sheet of the purchased product *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.1.4 Sizes
This operating manual applies to the following sizes:
• EMH 36-B
• EMH 45-B
• EMH 84-B
• EMH 114-B
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:
• Observance of the applicable documents
• Observance of the ambient conditions and operating conditions
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
• Electric permanent magnetic gripper EMH in the version
ordered
• Assembly and Operating Manual
• Accessory pack: 2 centering sleeves
1.4 Accessories
The following accessories, which must be ordered separately, are
required for the product:
• Power cable
• Control cable

Basic safety notes
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2 Basic safety notes
2.1 Appropriate use
The product was designed to safely hold ferromagnetic
workpieces.
• The product may only be used within the scope of its technical
data, Technical data [}14].
• The product is intended for industrial and industry-oriented use.
• The product is intended for installation in a machine/system.
The applicable guidelines must be observed and complied with.
• 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.
• Appropriate use of the product includes compliance with all
instructions in this manual.
2.2 Not intended use
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
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.

Basic safety notes
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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 [}14].
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 environ-
mental protection regulations regarding the product's applica-
tion 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.
2.12 Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety installations.
• Install the provided protective product in the danger zone
before switching on the product.
• Remove the energy supplies before installation, modification,
maintenance, or adjustment work. Ensure there is no residual
energy in the system.
• Do not move parts by hand while the energy supply is connected.
• Do not reach into the 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.
• 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.
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.
• The faulty actuation of conected drives may cause dangerous
movements.
• Operating mistakes, faulty parameterization during commissioning
or software errors may trigger dangerous movements.

Basic safety notes
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• 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.
2.12.4 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.

Basic safety notes
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13
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 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.

Technical data
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3 Technical data
3.1 Basic data
EMH
Designation 36-B 45-B 84-B 114-B
Dimensions XxYxZ [mm] 66x50x116 66x50x116 130x105x152 130x105x152
Weight [kg] 1 1.5 6.5 8
Magnetic induction [gauss] 6.2 6.7 5.3 5.8
Magnetic surface [cm2] 6.08 10.75 41.25 81.97
Number of poles 2, concentric
Load capacity for horizontal
magnetic surface[kg]
8.5 22.5 89.5 175.5
Maximum holding force [daN] 54.0 136.0 537.0 1055.0
Increased product
temperature* at 5/15
activations per minute [° C]
10/25 11/28 14/37 20/45
Activation time [ms] 700 700 1000 1200
Rated voltage [V DC] 24
Max. current power [A] 3.1 3.8 6.1 7.1
Rated current logic [mA] ≤150 ≤150 ≤150 ≤150
IP protection class 52
Noise emission [dB(A)] ≤ 70
Max. permissible product
temperature [°C]
+80
Ambient temperature [°C]
Min.
Max.
+5
+50
Air humidity [%]
Min.
Max.
30
80
* Increased module temperature tested on material1.0037 with
20mm workpiece thickness, ground surface and complete coverage
of the magnetic surface.
More technical data is included in the catalog data sheet.
Whichever is the latest version.

Design and description
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4 Design and description
4.1 Structure
Electric permanent magnetic gripper
1 Ground connection (thread)
2 Logic connection (connector), communication via digital I/O
interface
3 Power connection (connector)
4 Magnetic surface
5 LED status display
•Error: flashes red if there is a malfunction.
The flashing pattern indicates the type of malfunction,
Troubleshooting [}26].
•Status: lights up yellow in the "Magnetized" state.
•Ready: lights up green in the "Product ready for
operation" state.
6 Name plate (not shown)

Design and description
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4.2 Description
The product is an electric permanent magnetic gripper for the
energy-efficient handling of ferromagnetic workpieces. The
workpieces are free from interfering contours allowing access
from five sides and are also reliably held in emergency stop
scenarios. The integrated controller communicates directly with
the superordinate control system. Three LEDs on the product
indicate the current status of operational readiness and
magnetization. When a workpiece is held, a sensor monitors the
attachment of the workpiece to the magnetic surface.
The functional principle is based on the combination of AlNiCo and
neodymium magnets: in the deactivated state, the magnetic flux
of the AlNiCo magnets passes through the neodymium magnets
and closes the magnetic circuit via the steel gripper base body. To
activate the system, an electric current pulse is conducted through
the coil. This reverses the polarity of the AlNiCo magnets so that
the magnetic circuit is closed by the ferromagnetic workpiece to
be gripped.
The two poles of the product are arranged concentrically. The
contact surface of the workpiece must therefore be large enough
to cover both poles. The required power is provided by selecting
the suitable holding force level. The permissible load capacity for
a horizontal magnetic surface must be adhered to, Technical
data [}14].
Any residual magnetisim remaining in the workpiece (remanence)
can be measured with an optionally available gaussmeter.

Design and description
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17
4.3 Magnetic suitability of the workpiece material
The product is design to hold almost all ferromagnetic materials.
The attainable holding force depends on the magnetic resistance
and thus on the chemical composition of the respective workpiece
material, among other factors. Accordingly, with some
ferromagnetic materials a reduction in the nominal holding force
of more than 30% can be expected.
The following table shows a few examples of empirical values:
Material Efficiency
Conventional steel (Fe 360) 100%
Ferromagnetic crude steel (C10–C15) 90%
Tool, case hardening and sectional steels 70-80%
Magnetic stainless steel 65%
Cast iron 50%
In addition, material alloys can cause residual magnetism to
remain in the workpiece, which significantly reduces the holding
force.
Negative impact of heat treatment processes
Heat treatment processes can substantially change the magnetic
characteristics of a ferromagnetic material. When methods suchas
forging, hardening, tempering or sintering are used, the suitability
of the treated workpiece needs to be tested separately.
Examples of unsuitable materials
Handling workpieces made of materials such as the following is
not possible:
• Aluminum and its alloys
• Bronze
• Brass
• Non-magnetic cast iron
• Some stainless steels (e.g. austenitic), which are only slightly
magnetizable after being hardened by plastic deformation.
• Non-metallic materials
Note: if you have questions about the magnetic suitability of a
workpiece, contact SCHUNK.

Design and description
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4.4 Factors influencing the holding force
Apart from the magnetic characteristics of the workpiece material,
the attainable holding force is dependent on the following
influencing factors:
Dimensions
The contact surface of the workpiece must be large enough to
cover at least two poles on the product with different polarity.
Only then can the magnetic circuit be closed and the holding force
generated.
Contact surface
The attainable holding force is greatest when the contact surface
of the workpiece is a least as big as the magnetic surface of the
product.
Air gap
Uneven or dirty contact surfaces increase the distance (air gap)
between the workpiece and the product. The attainable holding
force is greatest when the air gap or its distribution over the
contact surface is kept as small as possible. Air gaps also need to
be taken into account if, due to production reasons, a higher
surface quality cannot be achieved.
Workpiece thickness
For very thin workpieces (e.g. metal sheets) the maximum
available holding force cannot be used due to physical reasons.
Bending can also reduce the usable contact surface and thus the
effect of the holding force. The resulting peeling effects can also
counteract the holding force.
Heating
Each activation increases the internal temperature of the product.
Overheating reduces the magnetic characteristics and can destroy
the product. The following criteria must therefore be met:
• The residual heat of the workpiece corresponds to the
permissible ambient temperature, Technical data [}14].
• The number of activations per minute is set in such a way that
the maximum permissible product temperature is not reached.
Movement energy
When moving the workpiece, acceleration forces counteract the
holding force. The forces exerted by the machine/system must be
significantly less than the holding force attainable with the
respective workpiece.
Note: if you have questions about the holding force, contact
SCHUNK.

Assembly
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19
5 Assembly
5.1 Installing and connecting
WARNING
Risk of injury from the procuct falling during assembly and
operation !
•Make sure that the product is securely mounted on the
machine/system
ØCheck the flatness of the mounting surface, Mechanical
connection [}19].
ØScrew the product to the machine/system, Mechanical
connection [}19].
ØConnect all electric cables, Electrical connection [}20].
5.2 Mechanical connection
Evenness of the
mounting surface
The values apply to the whole mounting surface to which the
product is mounted.
Requirements for evenness of the mounting surface (Dimensions in mm)
Edge length Permissible unevenness
< 100 < 0.02
> 100 < 0.05
Mechanical connection (schematic diagram)
Ø Secure the product to the machine/system with four screws (1) and
two centering sleeves (2) and pay attention to the following values:

Assembly
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Mounting screws
Item Designation EMH
36-B 45-B 84-B 114-B
1 Mounting screws (4 x)
Thread M6 M6 M10 M10
Maximum depth of
engagement [mm]
20 20 20 20
Mounting screw strength
class
8.8
2 Centering sleeves (2 x) Ø10 Ø10 Ø14 Ø14
5.3 Electrical connection
CAUTION
Damage due to faulty connection!
A faulty connection can cause damage to the product.
•Observe the pin allocation of the connecting terminals.
•Make sure that all components are grounded correctly.
Electrical connection
ØScrew the grounding cable into the ground connection(1).
ØConnect the socket of the logic cable to the logic connection(2).
Ø Connect the socket of the power cable to the power connection(3).
The cables are not included in the scope of delivery, for
permissible cable specifications, see catalog data sheet EMH.