User Manual
Contents
1. 10 0 0 0 0 0 ololojolololo ololojolojojo olojojojojojo Buchsenleiste 880000000 ALLELE 00000000 00000000 BER DEFAULT BOOT o m ojo 0lg Buchsenleiste Figure 18 Connection board Rear The module can be reset to the factory settings using the DEFAULT function 1 Turn off the power supply 2 Unscrew the four screws M4 x 35mm for the connection cap using a hexagon socket wrench size 3 3 Detach the connection cap from the module 4 Place the jumper enclosed pack at the DEFAULT connector on the connection board 5 Reconnect the connection cap to the module 6 Turn on the power supply for around 10 seconds 7 Turn off the power supply and detach the connection cap from the module 8 Disconnect the jumper from the DEFAULT connector 9 Reconnect the connection cap to the module 10 Tighten the connection cap screws uniformly The module is now set to the DEFAULT values see chapter 6 2 page 14 02 01 PW 0389353 en SCHUNK 07 Loading new firmware to the module 02 01 PW 0389353 en www comoso com Assembly and commissioning Applicable for firmware 1 3 x till 15 04 2010 New firmware can be loaded to the module using the BOOT function RS232 communication interface is connected and active see chapter 8 3 2 page 23 1 Turn off the power supply 2 Unscrew the four screws M4 x 35mm for the connection cap using a hexagon socket wrench size2. Parameters Master gt Slave Current in configured unit system must be specified Response Slave gt Master OK 0x4F4B if successful The module executes the command Miscellaneous Spontaneous message is possible D Len Cmd Param Meaning M gt S_ 0x05 OxB3 0x00 0x00 0x60 0x40 Execute current move with 3 5 A S gt M_ 0x05 OxB3 Ox4F 0x4B Table 17 Example for MOVE CUR Velocity move Command Code 0xB5 Description A velocity move is executed Parameters Master gt Slave e Velocity in configured unit system must be specified e Current optional Response Slave gt Master OK Ox4F4B if successful The module executes the command Miscellaneous Spontaneous message is possible if the module is no longer moving D Len Cmd Param Meaning M gt S_ 0x05 OxB5 0x9A 0x99 0x31 0x41 Execute velocity move with 11 1 mm s S gt M 0x05 OxB5 0x4F 0x4B Table 18 Example for MOVE VEL 02 01 PW 0389353 en 35 Assembly and commissioning Stop module www comoso com SCHUNK 07 Command Code 0x91 Description The module is braked and stopped in the cur rent position Parameters Master gt Slave None Response Slave gt Master OK 0x4F4B if successful Miscellaneous Spontaneous message is possible D Len Cmd Param Meaning M gt S 0x01 0x91 S gt
3. jumper board enclosed pack as termination Figure 15 Profibus DP circruit diagram 28 02 01 PW 0389353 en www comoso com SCHUNK 07 Assembly and commissioning fuse aa OA con yes tT fisi ES 4 4 ji Re lize Tim _ OND it E uv r EEZ EEH E PE P QR 0 if JP5 JP4 JP2 7 e ie N vV Figure 16 Connection board Terminal strip X1 and jumper board for termination Bre JEON Connection Terminal SCHUNK cable color Profibus DP interface cable 1 Bus_H Bus_A green Bus_L Bus_B red PE shield from cable 1 amp 2 Logic connection cable 2 24V brown 0 25 mm GND white 0 25 mm Output power supply UB red 2 5 mm UB blue 2 5 mm Table 13 CAN connection Assignment of terminal strip X1 SUB D socket solder side Pin Terminal X1 20 3 Bus_L Bus_B 8 Bus_H Bus_A Table 14 Profibus DP assignment of 9 pin SUB D connector Combining several modules Figure 17 Combining module n with module n 1 When combining several modules the signals from module n are looped through to module n 1 The wires from termi nal X2 on module n are connected to terminal X1 on module n 1 02 01 PW 0389353 en 29 Assembly and commissioning 8 3 5 Setting the module 30 to factory settings www comoso com SCHUNK 07 DEFAULT and BOOT function AALL eeeeeeeees
4. 3 3 Detach the connection cap from the module 4 Place the jumper enclosed pack at the BOOT connector on the connection board 5 Reconnect the connection cap to the module 6 Turn on the power supply again 7 The module is in BOOT mode New firmware is transferred to the module using the MCDemo tool see MotionControl pdf 8 Turn off the power supply 9 Detach the connection cap from the module 10 Disconnect the jumper from the BOOT connector 11 Reconnect the connection cap to the module 12 Tighten the connection cap screws uniformly Notes For further information refer to the MotionControl pdf document on the DVD supplied Applicable for firmware 1 4 x from 16 04 2010 Module can be overwritten with a new firmware by the func tion Modul Firmware update of the software MCDEMO included on the provided CD Note Versions of software and firmware need to be adapted to each other 31 Assembly and commissioning 32 8 4 8 4 1 Data format 8 4 2 www comoso com SCHUNK System integration System structure Control system Master PLC PC Module 1 Module 2 Module 3 Figure 19 The data is transferred in INTEL Format Little Endian For mat Notes The number of modules connected depends on the bus used A maximum of 255 IDs can be assigned see DVD Document MotionControl pdf SCHUNK Motion protocol Figure 20 The data f
5. Designation A DANGER Dangers for persons Nonobservance causes death or serious injuries A WARNING Dangers for persons Nonobservance can cause death or serious injuries Q NOTICE Information on avoiding material damage for explanation or to optimize the work processes 4 Prerequisite for a handling instruction gt Handling instruction also measures in a warning or note 1 Step by step handling instruction 2 gt Observe the order Ou ue Component spare part represented in a graphic 10 Part detail shown in a graphic which is part of a spare part or which must be provided by the customer 10 10 Reference in the text or in a handling instruction to a part that is represented in a graphic Master M gt Slave S Parameter will be transferred from Master M to Slave S Table 3 1 5 Terms used in this manual Term Meaning Cycle A cycle includes the following movement gt One rotating motion 1x to specified position and 1x back to initial position Table 4 02 01 PW 0389353 en SCHUNK 07 2 1 2 2 2 3 02 01 PW 0389353 en www comoso com Basic safety notes Basic safety notes Intended use This module has been designed for pivoting and turning workpieces or other objects The module is intended for installation in a machine The requirements of the applicable guidelines must be observed and complied with The module may be used only in the contex
6. M 0x03 OxB5 0x4F 0x4B OK Table 19 Example for CMD STOP Emergency stop Command Code 0x90 Description The module is stopped as quickly as possible If a brake is fitted and appropriately configured it is acti vated immediately The motor phases are short circuited Parameters Master gt Slave None Response Slave gt Master Error message ERROR EMERGENCY STOP is triggered Miscellaneous Can only be reset by CMD ACK D Len Cmd Param Meaning M gt S_ 0x01 0x90 S gt M 0x03 0x88 0xD9 Emergency stop executed Table 20 Example for CMD EMERGENCY STOP 36 02 01 PW 0389353 en www comoso com SCHUNK Assembly and commissioning Acknowledge error Command Code 0x8B Description Acknowledgement of an error message Parameters Master gt Slave None Response Slave gt Master OK 0x4F4B Miscellaneous When all errors have been successfully acknowledged after sending OK 0x4F4B an info mes sage INFO NO ERROR is also sent D Len Cmd Param Meaning M gt S 0x01 0x8B S gt M 0x03 Ox8B 0x4F 0x4B OK Table 21 Example for CMD ACK Notes For further information refer to the MotionControl pdf document on the DVD supplied 02 01 PW 0389353 en 37 www comoso com Troubleshooting SCHUNK 07 9 Troubleshooting 9 1 Module does not move Possible causes Remedial measures Communication with the module is not possible gt Check bus con
7. an be found in our catalog The most recent version applies Size 70 90 Mass kg 1 8 3 4 Noise emission dB A lt 70 lt 70 IP rating 54 54 when using DMI connection cap Ambient temperature C Min 5 5 Max 55 55 Rated torque Nm 12 0 23 0 Peak torque Nm 24 0 46 0 Angle of rotation 4 120 120 Max acceleration s 960 600 Max angular velocity s 240 150 Rated torque Nm 2 0 12 0 Peak torque Nm 4 0 24 0 Angle of rotation 4 gt 360 gt 360 Max acceleration s 1440 960 Max angular velocity s 360 240 Rated voltage V DC 24 24 Rated current A 4 4 Max current A 8 8 Interface RS232 X X CAN X X Profibus DP X X Power supply V DC 24 24 Rated current A 0 5 0 5 Sensor system Encoder Encoder Table 5 13 Technical Data 6 2 6 3 www comoso com SCHUNK 07 Factory settings DEFAULT Value Reference Axis 1 Axis 2 Interface RS232 RS232 Data rate 9600 9600 Module address 13 14 Table 6 Power supply requirements Designation Value Output power supply motor 24 V DC Power supply for logic 24 V DC 10 4 Residual ripple lt 150mVSS Switching peak lt 240mVSS Connection value Number of modules x Rated module current x 1 2 Table 7 14 02 01 PW 0389353 en www comoso com SCHUNK 07 Description of the module 7 Desc
8. are listed not the optional parameters In the examples M stands for master and S for slave module 33 Assembly and commissioning Referencing www comoso com SCHUNK 07 Command Code 0x92 Description A referencing is executed Parameters Master gt Slave None Response Slave gt Master OK 0x4F4B if successful The module executes the command Miscellaneous Spontaneous response possible D Len Cmd Param Meaning M gt S 0x01 0x92 S gt M 0x03 0x92 Ox4F 0x4B Successfully referenced Table 15 Example for REFERENCE Positioning Command Code 0xBO Description Moves the module to a specified position Parameters Master gt Slave e Position in configured unit system must be specified e Velocity optional e Acceleration optional e Current optional e Jerk optional Response Slave gt Master If possible the time that the module needs for the movement is returned Miscellaneous Spontaneous response when position reached or in case of prior termination of positioning D Len Cmd Param Meaning M gt S 0x05 OxBO 0x00 0x00 0x20 0x41 Move to position 10 0 mm S gt M 0x05 OxBO OxCD OxCC 0x04 0x41 Will reach position in 8 3 sec Table 16 Example for MOVE POS 34 02 01 PW 0389353 en SCHUNK Current move www comoso com Assembly and commissioning Command Code 0xB3 Beschreibung A current move is executed
9. eck for damage and replace the module if necessary Any repair work on the module may only be carried out by SCHUNK gt Call the service hotline or your SCHUNK contact gt Send the module to SCHUNK with a repair request Dismantling the module The module may only be dismantled by SCHUNK as other wise the mechanism or internal electronics may be dam aged 39 www comoso com SCHUNK 07 EC declaration of incorporation 11 EC declaration of incorporation In terms of the EC Machinery Directive 2006 42 EC annex II B Manufacturer SCHUNK GmbH amp Co KG distributor Spann und Greiftechnik Bahnhofstr 106 134 74348 Lauffen Neckar Germany We hereby declare that the following product Product designation Servo electric rotary pan tilt actuator Type designation PW 70 90 90 B2 ID number 0307340 307342 0306618 meets the applicable basic requirements of the Directive Machinery 2006 42 EC The incomplete machine may not be put into operation until conformity of the machine into which the incomplete machine is to be installed with the provisions of the Machinery Directive 2006 42 EC is confirmed Applied harmonized standards especially EN ISO 12100 1 Safety of machines Basic concepts general principles for design Part 1 Basic terminology methodology EN ISO 12100 2 Safety of machines Basic concepts general principles for design Part 2 Technical principles The manufacturer agrees to fo
10. eeeeeeeeeeeeeceaeeeeeeeeeeeeeneee 8 2 4 Personnel qualification sscsssischestisestenineueleteenchepicenmbesinenshsnigextievineshetiinwebeeias 9 2 5 Safety conscious working sssssesseerrresssssrrrtrrrnrrsstttrrnnnnnneserrrnnnnnnnnnent 9 2 6 Notes on particular TIGR wiacesicacsadetsels hetsideindatatesatebodeusidatdsadebidsndbeiidneadebadebnds 10 Warranty ciinciseeisasisnnisncasindisasdentdnniienidananasieeuisenisenanandsnusuectienntendientwuuiseasienteannuaenees 11 SCOPE Of delivery sccscdsticcsecstsssanecdncsencuasscaccedicsanandasnaecedncsanasanasenssdicsanstacduannadusneadie 11 PCS SSS oat ca ucts E a aaa a ae aa EE a Eaa E REEERE 12 5 1 Connecting elements 0 ceeeeeeeeneeeee cette eeeeeeeaeeeeeeeeeeeeeeeecaaaeeeeeeeeeeeenees 12 Technical Data siicersinesnccanneeonernctniciecciencnunauensaunriensnmmaniusinndiaisbuntuonenmnenensinneninenuntin 13 6 1 Basic datde aroe E ceetaaua toa etnonamneseses 13 6 2 Factory settings DEFAULT Value cceceeeeeeeeeeeeeteeeeeeeeeeeeeeeeennaees 14 6 3 Power Supply requirement ceeeeeeeeeeecceeeeeeeeeeeeseeaaeeeeeeeeeeeeeseeenaeeees 14 Description of the MOGI sais scsi sinsnascadwantinctwcarieninansiendeunsivaieuniiunduenauacixentiuniwan 15 7 1 NCCT g S AE A EE AAA A A E E E E E E EE Sualzvay Gea veeeeue 15 7 2 Functional principle chee encctedesesedededcnedeceneveseled corde lececevesed ude ceevecedesevsdetacences 16 7 3 Connection cap board as c5eceicetvestianeonntdeutincu
11. es SCHUNK 07 02 01 PW 0389353 en SCHUNK 07 1 1 1 2 www comoso com About this manual About this manual Purpose validity This manual is part of the module and describes the safe and proper use during all phases of operation This manual is valid only for the module specified on the front page Target groups Target group Task Manufacturer operator gt Keep this manual available for the personnel at all times gt Require personnel to read and observe this manual and the applicable documents especially the safety notes and warnings Skilled personnel fitter gt Read observe and follow this manual and the applicable documents especially the safety notes and warnings Table 1 1 3 Applicable documents You can find the following documents on our homepage Document Purpose Catalog Technical data or application parameters of the module and information on accessories The last version is always valid Software manual MotionControl pdf More detailed information about the parameters and spe cial features of the individual bus systems General terms of bussi ness Including notes on the warranty Table 2 02 01 PW 0389353 en About this manual www comoso com SCHUNK 07 1 4 Symbols in this manual To give you quick access to information the following sym bols will be used in this guide Symbol
12. he outer connecting cable shielding back over the cable sheath Fix the shielding in place with shrink hose in such a way that the shielding remains visible at the end of the sheath see Figure 8 page 22 Pull the connecting cable through the connection cap 1 and connect the board 2 according to the required interface see chapter 8 3 2 page 23 Pull the metric cable fitting 10 over the shrink hose so that the individual wires are still visible see Figure 8 page 22 Screw metric cable fitting 10 onto connection cap 1 Carefully slide the board 2 back into the connection cap 1 Carefully tighten the screws 7 on the board 2 21 www comoso com SCHUNK Assembly and commissioning 16 Replace the connection cap 1 on the module and tighten the screws 1 to a maximum of 3 Nm Connecting cable EMC fitting Outer shielding Wire strands Shrink hose Figure 8 EMC fitting 22 02 01 PW 0389353 en www comoso com SCHUNK Assembly and commissioning 8 3 2 RS232 interface The communication interface RS232 can t be used as a field bus system because of its properties gt The RS232 interface should be only used as a parameterization interface vY The module is the last bus subscriber in the sys tem gt Set jumper board enclosed pack as termination z 2 2 E v Z se Module n 1 module n 1 Master control Figure 9 RS232 circ
13. kholding Systems Bahnhofstr 106 134 D 74348 Lauffen Neckar Tel 49 7133 103 2503 A E D Fax 49 7133 103 2189 nP ENet automation de schunk com www schunk com ti aw Reg No DE 3496 01 2 02 01 PW 0389353 en SCHUNK 07 www comoso com Table of contents Table of contents 1 ABOUT THIS MANU sisissisestsisnsecisnindanisiarsiendianiienedanasaniuentsenisenntentsaussenisanneenieasiwonedante 5 1 1 Purpose validity sasescisenccedapiessetndenecedesinesegadceansdesiceseGedsneuedepinecusedeeessdaddoconseoens 5 1 2 Target OU DS cessarono eeaeee EA aE EAE EEEE EEEE 5 1 3 Applicable eo ool 1001 10 cn eres 5 1 4 Symbols in this manual c eee eeeeeeeeeee eee eect eeeeeeeeeeeeeeeeeeeeeeeeeceeeeeeeeeeeeeeees 6 1 5 Terms used in this manual cceneciarndsmnmndcruccmiaanncemoiacnuataasamendsiaaneunin 6 Basic safety NOTES sicicssinsssnsiacsacesiisinanasansciasceesiansninendundidusesasinncansdunsaswatiesaaniaansaianes 7 2 1 Intended USE sinapan aaia e a aaa e aa E AAE E EAR 7 2 2 Environmental and operating conditions eeeeeeeeeeteeeeeeeeeeeeeeeeeteeeeeeeees 7 2 3 Controlled Dil OGUCMON sssusa AEn 7 2 3 1 Condition of the inputs outputs I O 0 eee ee eeeeeeeteeeeeeeeeeeeeeee 8 2 3 2 Protective CQUIPMENT ccceeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeeeeeeeeeeees 8 2 3 3 Constructional changes attachments or modifications 8 2 3 4 Special standards c ccccccceeeeeeeeseeeeece
14. l per sonnel such as maintenance personnel Safety conscious working Avoid any manner of working that may interfere with the function and operational safety of the module gt Observe the safety and accident prevention regulations valid at the usage site www comoso com SCHUNK 07 Basic safety notes 2 6 Notes on particular risks Risk of injury from objects falling and being ejected gt Provide protective equipment to prevent objects from falling or being ejected such as processed workpieces tools chips fragments rejects Risk of injury when the machine system moves unexpectedly gt Do not move parts by hand when the energy supply is connected gt Do not reach into the open mechanism or the movement area of the module gt Remove the energy supplies before installation modification maintenance or adjustment work Perform maintenance modifications and additions outside the danger zone gt For all work secure the module against accidental operation 10 02 01 PW 0389353 en SCHUNK 07 02 01 PW 0389353 en www comoso com Warranty Warranty The warranty is valid for 24 months from the delivery date to the production facility under the following conditions e Intended use in 1 shift operation e Observation of the maintenance intervals see chapter 10 1 page 39 e Observation of the ambient conditions and operating conditions see chapter 2 2 page 7 Parts touching the
15. missible length of engagement gt Observe the tightening torque of the screws 1 Connecting element bracket 2 Fixing screws 3 Centering sleeves 4 PW module Figure 5 Mounting of the module The customer must provide the following fixing materials A PW 70 PW 90 Item Fixing material Base plate Axis 2 Base plate Axis 2 2 Permissible screws 4x M4 6x M4 6x M5 4x M5 Table 8 Fixing material orovided by customer 18 02 01 PW 0389353 en SCHUNK 07 8 2 8 3 02 01 PW 0389353 en www comoso com Assembly and commissioning Example of mounting B S 5 4 1 Servo electric swivel unit PR 2 Servo electric swivel unit PW 3 Force torque sensor FCT 4 Servo electric 2 finger parallel gripper PG 5 Connection elements PAM adapter plate Figure 6 Electrical connection Notes The cable color throughout this chapter relates to the use of a SCHUNK connecting cable NOTICE Damage of electronics is possible In case of a high payload dynamic energy may build up gt The customer has to take care that the dynamic energy will be discharged We recommend to use our brake chopper Type ACC3EA001 Id No 9951 504 19 www comoso com SCHUNK 07 Assembly and commissioning 8 3 1 EMV fitting A WARNING Risk of inj
16. n of the module 7 3 Connection cap board AALL 6606688888 olojo 0 0 0 9 ololololololol ee ey Buchsenleiste 6608 sees TALEC N ngo ug 38g x1 JP3 JP5 JP4 JP2 JP1 DEFAULT BOOT Buchsenleiste Front of board Rear of board Figure 4 On the front of the board connection side are the connect ing terminals X1 X2 and X3 The individual jumper connec tors JP1 JP5 for each interface and the motor output UB UB are also located here Function of terminals e X1 is the main connecting terminal for the module s communication e X2 is for the links to other modules e X3 is for the use of digital inputs and outputs Additional sensors can be connected here The assignment of this terminal is independent of the interfaces On the rear of the board plug in side to module are the socket strips and the jumper connectors for the BOOT and DEFAULT functions see chapter 8 3 5 page 30 02 01 PW 0389353 en 17 Assembly and commissioning 8 8 1 www comoso com SCHUNK 07 Assembly and commissioning Mechanical Connection A WARNING Risk of injury when the machine system moves unexpectedly gt Switch off energy supply v The installation position of the module has been de signed so that cable wrapping is not possible gt Use suitable connecting elements adapter plate to connect the module in the machine system gt Observe the per
17. nection see chapter 8 3 page 19 Table 22 9 2 The module is sluggish or jerky Possible causes Remedial measures Dirt deposits in the cavities gt Clean the module see chapter 10 1 Page 39 Table 23 9 3 The module s motor is not turning Possible causes Remedial measures No voltage connected gt Check the power supply Insufficient voltage gt Check the power supply requirements see chapter 6 3 Page 14 Table 24 9 4 Module stops abruptly This can be reported by the module using the ERROR_CABLE_BREAK 0x76 parameter if the GSD file supplied has been integrated Possible causes Remedial measures Bus cable fault connection to module broken gt Check bus cable for damage and replace if necessary gt For more troubleshooting see MotionControl pdf Table 25 38 02 01 PW 0389353 en SCHUNK 07 10 10 1 10 2 02 01 PW 0389353 en www comoso com Maintenance and care Maintenance and care Maintenance intervals A WARNING Risk of injury when the machine system moves unexpectedly gt Switch off energy supply Size 70 90 Interval Mio Cycles 2 2 Table 26 The module complies with protection class IP 54 with mounted connection cap DMI gt Clean the module dry remove all coarse dirt and chips from the cavities on the module gt Ch
18. or termination Until 2010 12 From 2011 01 26 Connection Terminal SCHUNK cable color CAN interface Bus_H yellow Bus_L green PE shield Logic connection 24V brown 0 25 mm GND white 0 25 mm Output power supply UB red 2 5 mm UB blue 2 5 mm Table 10 CAN connection Assignment of terminal strip X1 Connection Terminal SCHUNK cable color CAN interface Bus_H white Bus_L red PE shield Logic connection 24V red 0 25 mm GND blue 0 25 mm Output power supply UB red 2 5 mm UB blue 2 5 mm Table 11 CAN connection Assignment of terminal strip X1 SUB D socket solder side Pin Terminal 1o2 0 ee 2 Bus_L m Ta So 9 0000 7 Bus_H Table 12CAN assignment of 9 pin SUB D socket 02 01 PW 0389353 en SCHUNK 07 Combining several modules 02 01 PW 0389353 en www comoso com Assembly and commissioning Figure 14 Combining module n with module n 1 When combining several modules the signals from module n are looped through to module n 1 The wires from termi nal X2 on module n are connected to terminal X1 on module n 1 27 www comoso com Assembly and commissioning 8 3 4 Interface Profibus DP SCHUNK Connection cap end module Connecton cap module n 1 Master control device Y The module is the last bus subscriber in the system gt Set
19. rame of the Motion protocol always includes the following elements e D Len 1 byte e Command Code 1 byte D Len Data Length specifies the number of subsequent items of user data including the command byte The data 02 01 PW 0389353 en SCHUNK 07 8 4 3 02 01 PW 0389353 en www comoso com Assembly and commissioning frame consists of one byte therefore a Motion protocol message can transfer a maximum of 255 data bytes The D Len byte is always followed by the command code consisting of one byte If necessary the command code is followed by the relevant parameters required If required a master command can be extended with a sub commana All commands sent are immediately confirmed by the mod ule with a response acknowledge This response also uses the data frame described above D Len command code any parameters If the request has been successfully processed D Len always has a value that is not equal to 0x02 If the request failed D Len has the value 0x02 Notes The special features of the different bus systems are de scribed in MotionControl pdf see DVD Document Motion Control pdf Most important commands A DANGER Risk of injury when the machine system moves unexpectedly due to incorrect programming gt Only specialist personnel or specially trained staff should carry out settings and enter parameters Notes In all examples only the necessary parameters
20. ription of the module 7 1 Structure 4 2 5 1 Axis 2 swivel axis 4 Assembly interface for attachments 2 Axis 1 tilt axis 5 Connection cap with blind plug M16x1 5 3 Base plate with four fixing bores and metric cable fitting for EMC connection Figure 2 Servo electric rotary pan tilt actuator Note Only tilt axis Axis 1 can be controlled via DIO s 02 01 PW 0389353 en 15 Description of the module 16 7 2 www comoso com SCHUNK 07 Functional principle Environmental interference H M T C F pa e an mn am m z Module is moving Process flow Sensors Actuator internal Logic control unit communication interface Display Operation Power supply User interface Control Master Figure 3 The actuator in this case a DC motor per axis is controlled by the internal logic The required parameters are trans ferred from the higher level controller master to the internal logic The following parameters can be transferred from the con troller master to the internal logic e Current I e Velocity v e Acceleration a e Position Notes All possible parameters and the relevant features of the individual bus systems are described in more detail in the document about the SCHUNK Motion protocol see DVD document MotionControl pdf 02 01 PW 0389353 en www comoso com SCHUNK 07 Descriptio
21. rward on demand the special technical documents for the in complete machine to state offices The special technical documents according to Annex VII Part B belonging to the incomplete machine have been created Person responsible for documentation Mr Uwe Heinz Address see manufacturers address leh Location date signature Lauffen Germany January 2011 ppa Title of the signatory Director for Development 40 02 01 PW 0389353 en
22. t of its defined application parameters Any other use or use exceeding that specified is an in fringement of use for intended purpose The manufacturer bears no liability for damage resulting from such use Environmental and operating conditions gt The module may be used only in the context of its defined application parameters see chapter 6 page 13 and catalog gt Make sure that the environment is clean and the ambient temperature corresponds to the specifications per the catalog Maintenance intervals see chapter 10 1 page 39 gt Make sure that the environment is free from splash water and vapors as well as from abrasion or processing dust Excepted are modules that are designed specially for contaminated environments Controlled production The module represents the state of the art and the recog nized safety rules at the time of delivery However it can present risks if for example e The module is not used in accordance with its intended purpose e The module is not installed or maintained properly Basic safety notes 2 3 1 2 3 2 2 3 3 2 3 4 www comoso com SCHUNK 07 e The EC Machinery Directive the VDE directives the safety and accident prevention regulations valid at the usage site or the safety and installation notes are not observed Condition of the inputs outputs I O During the run up of the module not defined I O conditions may occur Do not allow a direct connec
23. tiestbastieutwestieatiestlashooutGeckiesndunt 17 Assembly and COMMISSIONING ccccceeeeeeeeeeeneeeeeeeeeeeeeeeseeeneeeeeeeeeseeeeeeeeeeees 18 8 1 Mechanical Connection vociicesisssetscescievsiielncdssadus apeiicdlosidalsddesadebiiencbenddavadsbeddionds 18 02 01 PW 0389353 en 3 www comoso com Table of contents 10 11 8 2 Example of mounting cceeeeeeeeeeeeeetees 8 3 Electrical connection sci cciccdeciiediiesdiensdeatietinns 8 3 1 EMV TMG js sacece sex sseesseteececeeeceescepessees 8 3 2 RS232 WMMGMACS vcsseestceverestsevevestvevevents 8 3 3 CAN interface eeeeeeeesseeeeeeeees 8 3 4 Interface Profibus DP 8 3 5 DEFAULT and BOOT function 8 4 System integration eee eeeeeeeeeeeeeeeeeeeees 8 4 1 System Structure eeeeeeeseeeeeeees 8 4 2 SCHUNK Motion protocol 0 8 4 3 Most important commands TroubleShooting sssseeeeeeeeeeeeeseeeeeeeeeeeeeeeeeenseseeeeees 9 1 Module does not MOVE cccceeeeeeeeeeeeeeees 9 2 The module is sluggish or jerky ceee 9 3 The module s motor is not turning 9 4 Module stops abruptly ceeeeeeeeeeeeeeeees Maintenance and care ssssseeeeeeeeeeeeeeeeeeeeeeeeeeeees 10 1 Maintenance intervals ccccceeeeeeeeeeeees 10 2 Dismantling the module cceeceee EC declaration of incorporation 0ccceeeeeee
24. tion with actuators Protective equipment gt Provide protective equipment per EC Machinery Directive Constructional changes attachments or modifications Additional drill holes threads or attachments that are not offered as accessories by SCHUNK may be attached only with permission of SCHUNK Special standards The following harmonized standards were adhered to e Industrial scientific and medical ISM radio frequency equipment Electromagnetic disturbance characteristics Limits and methods of measurement IEC CISPR 11 2003 A1 2004 modified A2 2006 German version EN 55011 2007 A2 2007 class A this is equivalent to EN 61000 6 4 2004 e Electromagnetic compatibility EMC Part 6 2 Generic standards Immunity for industrial environments IEC 61000 6 2 2005 German version EN 61000 6 2 2005 02 01 PW 0389353 en SCHUNK 2 4 2 5 02 01 PW 0389353 en www comoso com Basic safety notes Personnel qualification The assembly initial commissioning maintenance and re pair of the module may be performed only by trained spe cialist personnel The assembly initial commissioning maintenance and re pair of the module may be performed only by trained spe cialist personnel Every person called upon by the operator to work on the module must have read and understood the complete As sembly and Operating Manual especially chapter 2 Basic safety notes This applies particularly to occasiona
25. uit diagram 02 01 PW 0389353 en 23 www comoso com SCHUNK Assembly and commissioning RxD Pin 2 TxD Pin 3 GND Pind Solder side 9 pin SUB D socket Figure 10 Connection board Terminal strip X1 and connection to 9 pin SUB D socket Connection Terminal SCHUNK cable color RS232 interface Tx brown Rx white GND Rx Tx black from Rx Tx Logic connection 24V red 0 25 mm GND blue 0 25 mm Output power supply UB red 2 5 mm UB blue 2 5 mm Table 9 RS232 connection Assignment of terminal strip X1 Combining several modules Figure 11 Combining module n with module n 1 When combining several modules the signals from module n are looped through to module n 1 The wires from termi nal X2 on module n are connected to terminal X1 on module n 1 24 02 01 PW 0389353 en www comoso com ah SCHUNK Assembly and commissioning 8 3 3 CAN interface JUMPERCIRCUTBOARD V The module is the last bus subscriber in the sys tem sedi gt Set jumper board enclosed pack as termination Connection cap end module Module n 1 Connecton cap module n 1 Master control Logic power device ied supply su PC PLC i Figure 12 CAN circuit diagram 02 01 PW 0389353 en www comoso com Assembly and commissioning SCHUNK 07 Figure 13 Connection board Terminal strip X1 and jumper board f
26. ury when the machine system moves unexpectedly gt Switch off energy supply NOTICE Damage to board if screws are too tight gt Only fix the screws in place on the board Notes Observe the maximum electrical energy values see chapter 6 page 13 1 Connection cap ASK 2 Board 7 Screws for board 1 2 2 1 10 10 Metric cable fitting M16 EMC 1 Connection cap screws 4x M4x35mm 2 Blind plug M16 Figure 7 20 02 01 PW 0389353 en SCHUNK 07 EMC fitting 02 01 PW 0389353 en www comoso com Assembly and commissioning The module is delivered without connection cap ASK It can be ordered separately as accessory Connection cap ASK is necessary for operation for item see Figure 7 page 20 1 10 11 12 13 14 15 Loosen the screws 1 for the connection cap 1 witha hexagon socket wrench size 3 Detach the connection cap 1 from the module Carefully unscrew the screws 7 for the board 2 with a hexagon socket wrench size 2 5 Carefully remove the board 2 from the connection cap 1 and place it safely to one side Unscrew the blind plug 2 to achieve an optimum connecting cable position Pull the connecting cable through the metric cable fitting 10 Strip approximately 50mm from the connecting cable Strip around 5 mm of the individual wires sufficient for the terminals Push t
27. workpiece are not part of the warranty Also observe our general terms of business Scope of delivery The scope of delivery includes e Servo electric rotary pan tilt actuator Type PW in the version ordered e USB to RS232 converter inclusive driver CD e DVD Content of DVD e MCDemo configuration and commissioning tool e Operating manual in PDF format e MotionControl software manual in PDF format Note The module is delivered without connection cap ASK It can be ordered separately as accessory Connection cap ASK is necessary for operation The following accessories are available for the module e Connecting elements PAM e Hybrid cable e Connection cables gt Order accessories separately gt For additional accessories see catalog 11 Accessories 5 1 12 www comoso com SCHUNK Notes Older versions require the PowerConfig tool from the DVD for flashing If older versions are to be used contact your SCHUNK representative Accessories Connecting elements gt See catalog for exact type designations of compatible 2 connecting elements a 1 straight 3 right angle 2 conical 4 adapter plate Figure 1 02 01 PW 0389353 en SCHUNK 07 6 1 Mechanical operating data Axis 1 Axis 2 Electrical operating data Electronic control unit 02 01 PW 0389353 en www comoso com Technical Data Basic data Technical Data Further technical data c
28. www comoso com SCHUNK Translation of the original manual Servo electric rotary pan tilt actuator Type PW 70 90 Assembly and operating manual 02 01 PW 0389353 en www comoso com SCHUNK 07 Translation of the original manual Imprint Copyright This manual remains the copyrighted property of SCHUNK GmbH amp Co KG It is solely supplied to our customers and operators of our products and forms part of the unit This documentation may not be duplicated or made accessible to third parties in particular competitive companies without our prior permission Technical changes We reserve the right to make alterations for the purpose of technical improvement Document number 0389353 Edition 02 01 14 08 2012 en SCHUNK GmbH amp Co KG Lauffen Neckar All rights reserved 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 You can reach us directly at the mentioned addresses in the last chapter of these in structions Kindest Regards Your SCHUNK GmbH amp Co KG Precision Wor
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