SCHUNK PW V6 User instructions

Translation of the original manual

Servo-Electric Rotary Pan-Tilt Actuator

PW V6

Assembly and Operating Manual

Superior Clamping and Gripping

Imprint

01.00|PW V6 |en

Imprint

This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely

supplied to our customers and operators of our products and forms part of the product.

This documentation may not be duplicated or made accessible to third parties, in particu-

lar competitive companies,

without our prior permission.

Technical changes:

We reserve the right to make alterations for the purpose of technical improvement.

Document number: 0389670

Edition: 01.00 |17/03/2016|en

Dear customer,

congratulations on choosing a SCHUNK product. By choosing SCHUNK, you have opted for

the highest precision, top quality and best service.

You are going to increase the process reliability of your production and achieve best

machining results –to the customer's complete satisfaction.

SCHUNK products are inspiring.

Our detailed assembly and operation manual will support you.

Do you have further questions? You may contact us at any time –even after purchase.

Kindest Regards

Yours SCHUNK GmbH & Co. KG

Spann- und Greiftechnik

Bahnhofstr. 106 –134

D-74348 Lauffen/Neckar

Tel. +49-7133-103-0

Fax +49-7133-103-2399

[email protected]

www.schunk.com

Table of contents

01.00|PW V6 |en

Table of contents

About this manual.................................................................................................... 5

1.1

Warnings................................................................................................................... 5

1.2

Applicable documents .............................................................................................. 6

Basic safety notes .................................................................................................... 7

2.1

Intended use............................................................................................................. 7

2.2

Not intended use...................................................................................................... 7

2.3

Constructional changes ............................................................................................ 7

2.4

Spare parts................................................................................................................ 7

2.5

Environmental and operating conditions................................................................. 8

2.6

Personnel qualification............................................................................................. 9

2.7

The use personal protective equipment ................................................................ 10

2.8

Notes on safe operation......................................................................................... 10

2.9

Transport ................................................................................................................ 11

2.10

Malfunctions........................................................................................................... 11

2.11

Disposal................................................................................................................... 11

2.12

Fundamental dangers............................................................................................. 12

2.12.1

Protection during handling and assembly .................................................. 12

2.12.2

Protection during commissioning and operation ....................................... 13

2.12.3

Protection against dangerous movements................................................. 13

2.12.4

Protection against electric shock ................................................................ 14

2.12.5

Protection against magnetic and electromagnetic fields........................... 15

2.13

Notes on particular risks......................................................................................... 16

Warranty................................................................................................................. 18

Scope of delivery ..................................................................................................... 19

Accessories.............................................................................................................. 19

Technical data ......................................................................................................... 20

6.1

Basic data................................................................................................................ 20

Design and description ............................................................................................ 21

7.1

Design ..................................................................................................................... 21

7.2

Description ............................................................................................................. 21

7.3

Connection board................................................................................................... 22

7.4

LED .......................................................................................................................... 24

Assembly and installation........................................................................................ 25

8.1

Mechanical connection .......................................................................................... 25

8.2

Electrical connection .............................................................................................. 27

Table of contents

01.00|PW V6 |en

8.2.1

RS232 interface .......................................................................................... 28

8.2.2

CAN bus interface........................................................................................ 29

8.2.3

Interface Profibus DP .................................................................................. 31

8.3

Installing and connecting ....................................................................................... 33

8.4

Connecting ground cable........................................................................................ 34

8.5

Installing connection cap........................................................................................ 35

8.6

Combination of multiple products ......................................................................... 36

8.7

Commissioning the product ................................................................................... 37

8.7.1

Connect the product to the computer........................................................ 38

8.7.2

Open Motion Tool Schunk (MTS)................................................................ 39

8.7.3

Performing initial commissioning ............................................................... 42

8.8

Set the product to its factory settings.................................................................... 44

8.9

Updating firmware ................................................................................................. 45

8.10

Systemintegration .................................................................................................. 45

8.10.1

Compatibility ............................................................................................... 45

8.10.2

System structure ......................................................................................... 46

8.10.3

SCHUNK Motion protocol ........................................................................... 47

8.10.4

Most important commands ........................................................................ 48

Trouble shooting ..................................................................................................... 51

9.1

Product does not move .......................................................................................... 51

9.2

Product moves sluggishly or jerks .......................................................................... 51

9.3

The module's motor is not turning......................................................................... 51

9.4

Product stops abruptly ........................................................................................... 51

Maintenance and care............................................................................................. 52

10.1

Maintenance intervals............................................................................................ 52

10.2

Disassembling the product..................................................................................... 52

Translation of original declaration of incorporation ................................................. 53

About this manual

01.00|PW V6 |en

About this manual

This manual contains important information for a safe and appro-

priate use of the product.

This manual is an integral part of the product and must be kept ac-

cessible for the personnel at all times.

Before starting work, the personnel must have read and unders-

tood 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 of

the product and may differ from the actual product design.

In addition to these instructions, the documents listed under

(1.2, Page 6) are applicable.

Warnings

To make risks clear, the following signal words and symbols are

used for safety notes.

DANGER

Danger for persons.

Non-compliance will inevitably cause irreversible injury or death.

WARNING

Dangers for persons.

Ignoring a safety note like this 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.

1.1

About this manual

01.00|PW V6 |en

Applicable documents

•General terms of business *

•Catalog data sheet of the purchased product *

•Assembly and Operating manuals of the accessories *

•Software manual –Motion Control *

The documents marked with an asterisk (*) can be downloaded on

our homepage www.de.schunk.com.

1.2

Basic safety notes

01.00|PW V6 |en

Basic safety notes

Intended use

The product was designed to swivel permissible attachments or

workpieces.

•The product may only be used within the scope of its technical

data, (6, Page 20).

•The product is intended for installation in a machine. The appli-

cable guidelines must be observed and complied with.

•The product is intended for industrial use.

•Appropriate use of the product includes compliance with all in-

structions in this manual.

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.

Constructional changes

Making constructional changes

Attachements and modifications, constructional changes and subse-

quent work, e.g. additional threads, drill holes and safety devices, can

compromise the operation and safety or damage the product.

•Constructional changes may be only done with permission from

SCHUNK.

Spare parts

Use of unauthorized spare parts

Using unauthorized spare parts can endanger personnel and dam-

age the product or cause it to malfunction.

•Use only original spare parts or spares authorized by Schunk.

2.1

2.2

2.3

2.4

Basic safety notes

01.00|PW V6 |en

Environmental and operating conditions

Requirements for the ambient and operating conditions

Due to incorrect ambient and operating conditions, dangers may

arise from the product, which can cause serious injury and sub-

stantial property damage.

•Observe maintenance and lubrication intervals, (10.1, Page 52).

•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 en-

vironments.

•Ensure that the product is protected against sprayed water, va-

pors, contamination, and EMC influences during operation.

•Make sure that the product's range of application is outside the

explosive area. Excepted are products which were designed for

explosive areas.

2.5

Basic safety notes

01.00|PW V6 |en

Personnel qualification

Inadequate qualifications of the personnel

If the personnel working with the product is not sufficiently quali-

fied, the result may be serious injuries and significant property

damage.

•All work may be only 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:

Due to their technical training, knowledge and experience, trained

electrician are able to work on electrical systems, recognize and

avoid possible dangers and know the relevant standards and regu-

lations.

Pneumatics specialists have been trained for this particular area of

responsibility and know the relevant standards and regulations.

Hydraulic specialists have been trained for this particular area of

responsibility and knows the relevant standards and regulations.

Due to their technical training, knowledge and experience, quali-

fied personnel is able to perform the delegated tasks, recognize

and avoid possible dangers and knows the relevant standards and

regulations.

Instructed persons were instructed by the operator about the de-

legated tasks and possible dangers due to improper behaviour.

Due to their 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

Trained electrician

Pneumatics specialist

Hydraulic specialist

Qualified personnel

Instructed person

Service personnel of

the manufacturer

Basic safety notes

01.00|PW V6 |en

The use personal protective equipment

Using personal protective equipment

If no personal protective gear is worn while working with the prod-

uct, the safety and health of the personnel may be compromised.

•Observe the health and safety regulations and wear the neces-

sary personal protective equipment while working with the

product.

•Observe the applicable safety accident prevention regulations.

•Use protective gloves for sharp edges, sharp corners and rough

surfaces.

•Use protective gloves for hot surfaces.

•Use protective gloves and googles when handling hazardous

substances.

•Wear tight protective clothing for moving components.

Notes on safe operation

Incorrect manner of working by personnel

Working in an incorrect manner can make the product unsafe and

risk the danger of serious injuries and considerable material dam-

age.

•Avoid any manner of working that may interfere with the func-

tion 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.

•Rectify malfunctions as soon as they occur.

•Observe the care and maintenance instructions.

•Observe the current safety, accident prevention, and environ-

mental protection regulations for the application field of the

product.

2.7

2.8

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