SCHUNK SVH User instructions

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

Imprint
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02.00 | SVH | Assembly and Operating Manual | en | 389734
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: 389734
Version: 02.00|06/05/2019|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
1.1.3 Variants.....................................................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 6
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...............................................................................9
2.4.2 Structural changes, attachments and modifications ................................9
2.5 Personnel qualification....................................................................................... 10
2.6 Personal protective equipment.......................................................................... 10
2.7 Notes on particular risks..................................................................................... 11
2.8 Notes for integrators .......................................................................................... 13
3 Technical data.........................................................................................................14
3.1 Outer dimensions ............................................................................................... 14
3.2 Basic data ........................................................................................................... 14
3.3 Electrical operating data..................................................................................... 14
3.4 Data assembly board .......................................................................................... 15
3.5 Name plate ......................................................................................................... 15
4 Design and description............................................................................................16
4.1 5‐Finger Gripping Hand ...................................................................................... 16
4.2 Assembly board .................................................................................................. 18
5 Assembly and installation .......................................................................................19
5.1 Assembly and installation on an assembly board............................................... 21
5.2 Starting SCHUNK GUI Diagnostics....................................................................... 23
5.3 Extended use on assembly board....................................................................... 23
5.4 Mounting to a robot or moving unit................................................................... 24
5.5 System requirements for commissioning .......................................................... 26
6 Operation ...............................................................................................................27
6.1 Homing ............................................................................................................... 27
6.2 Operation ........................................................................................................... 29

Table of contents
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7 Troubleshooting .....................................................................................................30
7.1 Communication via USB interrupted.................................................................. 30
7.2 Communication via Ethernet interrupted .......................................................... 30
7.3 Fingers are colliding............................................................................................ 30
7.4 SVH is not reacting, not moving or stops suddenly ............................................ 30
7.5 Unusual noise during operation ......................................................................... 31
8 Maintenance ..........................................................................................................32

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.
NOTICE
Material damage!
Information about avoiding material damage.

General
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1.1.2 Applicable documents
• General terms of business*
• Mecovis protocol description/interface description
• Instructions for GUI diagnostics
• SVH_Protocoll_Specification_v0 4
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
Additional information is available on the enclosed CD.
1.1.3 Variants
This operating manual applies to the following variations:
• SVH right
• SVH left
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 intervals, Maintenance [}32]
• Observe the ambient conditions and operating conditions,
Ambient conditions and operating conditions [}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
• Servo-electric 5-Finger Gripping Hand SVH in the version
ordered
• Operating manual
• Mecovis parameter set
• Assembly board (integrated: BananaPI, USB Isolator, Brainbox,
FWK-ISO 115, var. cables)
• Power supply unit and cable
• Zarges boxes (packaging material)
• CD (software)

General
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The enclosed CD contains:
Directory Contents
Brainbox • Manufacturer documents (software and
documentation) for Brainbox (RS485/USB
interface converter)
Mecovis software • Installation files for the Mecovis software
SVH_Manuals • BananaPI user interface
• Instructions for Interactive Diagnosis and
Control GUI for SCHUNK SVH
• Protocol specification for SCHUNK Five
Finger Hand
• Mecovis S5FH-controller user's guide
• DOF Diagram/range of movement/joint
torque
• Schunk Readme
CD content may change in line with technological developments.

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.
• Gripping objects of a higher weight is only permitted after
consultation with the manufacturer.
• The 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).
• The product may be used only in the context of its defined
application parameters Technical data [}14].
• 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.
• For 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.
• Make sure that the product is used only in the context of its
defined application parameters, Technical data [}14].
• Make sure that the product is a sufficient size for the
application.
• Make 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
Dangers arise from the product, if:
• the product is not used in accordance with its intended
purpose.
• the product is not installed or maintained properly.
• the safety and installation notes are not observed.
Avoid any manner of working that may interfere with the function
and operational safety of the product.
Wear protective equipment.
NOTE
More information is contained in the relevant chapters.
NOTE
The availability of the safety functions is ensured only after a full
system start.
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.
• Structural changes should only be made with the written
approval of SCHUNK.

Basic safety notes
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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.
• 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.
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.
• 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.

Basic safety notes
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2.7 Notes on particular risks
Generally valid:
• Remove the energy supplies before installation, modification,
maintenance, or adjustment work.
• Make sure that no residual energy remains in the system.
• Do not move parts by hand when the energy supply is
connected.
• Do not reach into the open mechanism or the movement area
of the unit.
• Perform maintenance, modifications, and additions outside the
danger zone.
• Secure the product during all operations against uncontrolled
activation.
• Take a precautionary approach by maintenance and
disassembly.
• Only specially trained staff should disassemble the product.
• Ensure 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.
•Wear protective gloves.
•Allow 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.
•Observe 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.
•Operate 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.
•Therefore, 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.
•During transport and handling, do not bend any of the
components or change the insulation clearance.
•To avoid damage due to electrostatic charges, do not touch
the electrical components.
•Properly execute all grounding, fastening and cabling work in
accordance with applicable regulations.

Basic safety notes
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2.8 Notes for integrators
• The 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.
• If the gripper 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.
• The 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 bearing load capacity and dynamic
performance levels.
• The settings for commissioning the robot must be specified/
factored in by the integrator.
• The trade association requirements for hazard and injury
prevention in workplaces using collaborative robots must be
factored in and verified by the integrator.
• The trade association requirements for the medical fitness and
professional qualifications of operating personnel for
collaborative robots must be considered and verified by the
integrator.
• The MRK 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 gripper contrary to
the instructions for use)
• The integrator is to equip the MRK robot system with a category
0 emergency stop pursuant to IEC 60204 -1, which also disables
the gripper.

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
Ident number 0306456 0306457
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
3.3 Electrical operating data
Designation SVH
Power supply 24 V DC ±5%
Max. current input 3.5 A
Sensor system -
Interfaces • FWA115 flat change system
• RS 485

Technical data
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3.4 Data assembly board
Designation Value
Ident number 5524201
Dimensions (L x W x H) [mm] 300 x 300 x 85
Supply voltage [VDC] 24 ± 5%
Max. Current input [A] 3.75
Operating elements • Illuminated ON/OFF push
buttons
• USB/Ethernet toggle switch
Weight [kg] 2.7
Single-board computer BananaPI with SD slot
Interfaces • Flat change system
• Socket for external power
supply unit
• USB socket
• Ethernet socket
3.5 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 comes with an assembly board for
demonstration and testing purposes.
4.1 5‐Finger Gripping Hand
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 5‐finger gripping hand was designed SVH 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.
In this case, the 5‐finger gripping hand SVH must always be
operated within its technical specifications, Technical data [}14].
The 5‐finger gripping hand SVH is available in two designs,
corresponding to the right and left human hands. The dimensions
and operating data are identical for both designs.
Overall View of the 5-Finger Hand SVH
1 Fingers 3 Wrist
2 Thumbs 4 Flat change system
The 5‐finger gripping hand SVH is suitable for mobile applications
thanks to its design and low power consumption; also with
accumulator power supply.
Possible movements include:
• Bending and extending the fingers
• Spreading out the hand
• Pivoting and bending the thumb

Design and description
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A slip-resistant, elastic gripping surface on the fingers and thumbs
allow objects to be gripped securely.
A total of 9 drive motors control the movements of the 5-finger
gripping hand's fingers and thumb. SVH.
The control, regulation and power electronics are integrated into
the wrist of the 5‐finger gripping hand SVH .
Attaching it to a lightweight arm or to another application is
possible via the SCHUNK flat change system.
The power supply and control lines for the 5‐finger gripping hand
SVH are connected to the flat exchange system's adapter boards
with spring contacts.
The 5‐finger gripping hand SVH can either operate on the assembly
board included or on another piece of equipment (connection via the
FWK115-ISO flat change system), Assembly and installation [}19].

Design and description
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4.2 Assembly board
For initial commissioning, demonstrations, test runs or software
development, the 5‐finger gripping hand SVH can be mounted and
operated on the assembly board included.
A toggle switch switches between the USB and Ethernet interfaces.
Firstly, the 5-finger gripping can be controlled via the USB
interface. In this case, the Mecovis company software provided is
used. This software is only intended for demonstration purposes,
not for use with products in continuous operation.
The software is not supported by SCHUNK.
When controlling the 5-finger gripping hand via the Ethernet
interface, the SCHUNK diagnostics and control GUI is used.
Assembly board with operating and control panels
1 FWK-ISO 115 flat change
system
4 Ethernet connection
2 Connection for the
"Power IN 24 VDC"
network device
5 USB/Ethernet toggle
switch
3 Illuminated ON/OFF push
buttons
6 USB connection
The assembly board is basically comprised of:
• the operating and control panels
• BananaPI (single-board computer)
• RS485/USB interface converter
• USB Isolator
• FWK115‐ISO flat change system

Assembly and installation
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5 Assembly and installation
WARNING
Risk of injury when the machine/system moves unexpectedly!
Switch off power supply.
NOTE
Depending on the application, it can be useful to perform basic
configuration steps before the mechanical installation.
Recommended tool: hexagon socket wrench, size 5
NOTICE
Risk of damage when using screws that are too long!
•Observe the maximum depth of engagement permitted for
the mounting screws.
NOTICE
Risk of damage when using unsuitable connecting elements!
•SCHUNK recommends using SCHUNK connecting elements.
Check the flatness of the bolting surface
The values refer to the entire bolting surface.
NOTICE
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.
•Factor in operating movements when connecting the module.
NOTICE
Risk of operational malfunction due to short circuit or incorrect
connections!
•Before connecting, ensure that the electrical lines are de-
energized.
•Be sure to distribute the clamps correctly.

Assembly and installation
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NOTICE
Permanent damage to the electronics possible!
•If the power supply is separated, carry out potential
equalization between the two supply voltages (join the
grounds).
•Only the positive pole may be switched off; the GND motor
cable must always remain connected.
NOTE
In order to supply the hand with energy, a power supply unit must
be used that is able to supply sufficient power for the hand. Make
sure the dimensions of the cable cross-section are adequate when
cabling.
The assembly and installation of the SVH 5‐finger gripping hand
are different for the configurations listed below.
Operating on the assembly board
• Demonstration mode with SCHUNK Diagnostics and Control GUI
• Extended use on assembly board
• Free programming using the Mecovis software, for further
information see enclosed CD.
Operating on an external robot arm
• Mounting with the FWK11‐ISO flat change system
• Free programming
• The operator is responsible for the mechanical connection,
electrical connection and software used.