SCHUNK EGP User guide

System description

Electric gripper EGP with

safety functions

Imprint

01.00 | Electric gripper EGP with safety functions | System description | en | 1381596

Imprint

This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights re-

served. Any reproduction, processing, distribution (making available to third parties),

translation or other usage - even excerpts - of the manual is especially prohibited and re-

quires our written approval.

Technical changes:

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

Document number: 1381596

Version: 01.00|14/01/2019|en

Dear Customer,

thank you for trusting our products and our family-owned company, the leading techno-

logy 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. +49-7133-103-0

Fax +49-7133-103-2399

[email protected]

schunk.com

Table of contents

01.00 | Electric gripper EGP with safety functions | System description | en | 1381596

Table of contents

1 General.................................................................................................................... 4

1.1 About this manual ................................................................................................ 4

1.2 Applicable documents .......................................................................................... 4

1.3 Components for the system setup ....................................................................... 5

2 Technical data.......................................................................................................... 6

3 Design and description............................................................................................. 7

3.1 Example system setup Systemaufbau .................................................................. 7

3.2 Description ........................................................................................................... 8

4 Functional description ............................................................................................. 9

4.1 Definition of the safe state of the gripper............................................................ 9

4.2 Block diagram ..................................................................................................... 10

4.3 Superordinate control system ............................................................................ 10

4.4 Safety control system ......................................................................................... 11

4.5 Program sequence.............................................................................................. 12

5 Assembly and installation .......................................................................................13

5.1 Assembly ............................................................................................................ 13

5.2 Commissioning ................................................................................................... 14

5.3 Commissioning checklist..................................................................................... 15

6 Appendix ................................................................................................................17

Wiring diagram 1 (Pilz) ....................................................................................... 18

Wiring diagram 2 (LTI) ........................................................................................ 19

General

01.00 | Electric gripper EGP with safety functions | System description | en | 1381596

1 General

1.1 About this manual

This manual contains the information for a system configuration of

the EGP electric gripper with a safety control system for imple-

menting the safety functions SOS (safe operating stop) and STO

(safe torque shutdown).

This system description does not constitute a complete document-

ation. For each application, a risk assessment has to be prepared

and applicable standards must be identified and applied.

In addition to these instructions, the documents listed under Ap-

plicable documents [}4] are applicable.

1.2 Applicable documents

• Assembly and operating manual for gripper EGP

• Assembly and operating manual of the sensor - IN 40*

• DGVU Certificate, Certificate No. MF 15008 *

• DGVU Certificate, Certificate No. MF 17022 *

• Secure control documentation (installation and programming

guide) **

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

our homepage schunk.com

SCHUNK assumes no responsibility for the currentness, correct-

ness and completeness of the documents indicated with (**).

General

01.00 | Electric gripper EGP with safety functions | System description | en | 1381596

1.3 Components for the system setup

NOTE

For monitoring of redundant sensor signals, SCHUNK recommends

inductive proximity switches IN 40.

The following components are required for the system setup:

• Electric gripper EGP

• 4 x sensors

– e.g. inductive proximity switches

IN 40/S-M8, SCHUNK Id-No. 0301474

• Sensor bracket (2x)

–SCHUNK Id-No. 9700901

• Spacer sleeve for adjusting the sensor position

–SCHUNK Id-No. 5509536

• Sensor distributor

• Safety control system

–e.g. PILZ PNOZmulti or LTI SMC1-Z10

Technical data

01.00 | Electric gripper EGP with safety functions | System description | en | 1381596

2 Technical data

Notes on the technical data are included in the respective document-

ation of the individual components, Applicable documents [}4].

Design and description

01.00 | Electric gripper EGP with safety functions | System description | en | 1381596

3 Design and description

3.1 Example system setup Systemaufbau

Example system setup with safety control system

1 Sensor IN 40 4 Gripper power supply

cable

2 Sensor distributor 5 gripper

3 Safety control system

(e.g. PILZ PNOZmulti)

6 Sensor bracket

Superordinate

control system

Gripper

Superordinate

control system

Gripper

Monitoring level

Setup, conventional (left) and with safety function (right)

Design and description

01.00 | Electric gripper EGP with safety functions | System description | en | 1381596

3.2 Description

During the system setup, a monitoring level is created with a

safety control between the system's superordinate control and the

gripper.

As a result, the position of the gripper fingers can be monitored in-

dependently of the superordinate control and, if necessary, the

gripper can be disconnected from the supply voltage and thereby

placed to a safe state.

The monitoring level differentiates between two modes:

• Monitored operation

• Released operation

In monitored operation mode, the functions of the monitoring

level are active.

In released operation mode, the functions are not active and haz-

ards may arise. In released operation mode, the customer must

ensure that the plausibility of the sensor signals is monitored and

evaluated.

The monitoring level comprises two safety functions and the eval-

uation logic:

• Safe Operating Stop (SOS)

– Safe monitoring of the position of the gripper fingers

Cross-attached sensors monitor the position of the gripper

fingers.

• Safe Torque Off (STO)

– Safe deactivation path of the gripper

The gripper is deactivated by switching off the power supply.

• Evaluation logic

– The monitored positions are evaluated by the safety control.

If necessary, the control makes the decision to place the

gripper in safe state and maintains this state.

Functional description

01.00 | Electric gripper EGP with safety functions | System description | en | 1381596

4 Functional description

4.1 Definition of the safe state of the gripper

The safe state of the gripper is a state in which no danger to per-

son or machine arises from the gripper.

For the system setup, this means that there are the following two

safe states depending on the position of the gripper fingers:

• Safe state1

–Position of the gripper fingers is defined

The gripper maintains its position and gripping force to avoid

losing a workpiece that it may be holding.

• Safe state2

–Position of the gripper fingers is not defined

To avoid crushing, the power to the gripper is disconnected.

The change from safe state1 to safe state2 is made as soon as the

position of the gripper fingers is undefined.

This is the case, for example, when a gripped workpiece is re-

moved by force application from the gripper during monitored op-

eration, no release or the logical release signal low or Emergency

Stop. If a workpiece is removed, the gripper fingers move until a

signal change is made to one of the sensors (overrun traverse). If

the configured gripping force is very low, it is possible that the

gripper fingers maintain the position without an overrun.

The switch from safe state2 to safe state 1 is is not allowed.

It is possible to exit safe state 1 by reenabling or confirming.

Exiting safe state 2 is only possible by solving and acknowledging

the existing fault and then reenabling. This prevents unwanted or

unexpected reactivation. Alternatively, agreeing and subsequent

confirmation can ensure that the gripper is powered until the con-

firmation button is released or cut off (panic function).

Functional description

01.00 | Electric gripper EGP with safety functions | System description | en | 1381596

4.2 Block diagram

Gripper open 2

Non-safe (superordinate) control system Power supply

Ub = 24V DC ±10%

Sensor logic Evaluation logic Relays

Gripper open 1

Gripper closed 1

Gripper closed 2

Gripper closed 1

Gripper open 2

Gripper open 1

Open

Close Close

Open

Reset

Confirmation button

Enable

Emergency Stop

Interface system

Safety sensors and evaluation logic

Gripper voltage supply

EGP S

Sensor distributor SCHUNK products

Block diagram

4.3 Superordinate control system

The superordinate control system can be run in safe on non-safe

mode. There are no special requirements for the superordinate

control system. It must be ensured that the connections are made

for safety technology comply with the requirements of

ENISO13849-1.

When using a safe superordinate control system, the sensor and

evaluation logic that must be executed safely can be implemented

in the superordinate control system. In this case, no additional

control system is needed.

It must be ensured that the safety connections comply with the

application-specific requirements of ENISO13849-1.

If an external relay is used, it may be necessary to use additional

signals for monitoring and safe state change. When using integ-

rated safe relays, this may be adopted by the safety control sys-

tem.

NOTE

In release mode, the superordinate control must check the plaus-

ibility of the redundant sensor signals provided by the safety con-

trol system. In release mode, the sensor signals are merely looped

through the safety control system.

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