Home

ERS 560V

1. lt Zur ck Abbrechen Hilfe 22 Select No calculation for Calculation of the mo tor controller data Selecting the Complete calculation without mimic diagrams field can cause irreparable damage to the drive 23 Confirm all windows without changes up to the Summary window Before the drive is switched online and the parameters loaded into the target device parameter P340 in the expert list must be set to the value 3 Calculation of control parameters SCHUNK e0 01 07 ERS 135 210 560V en Start up NG Motor Pollageidentifikation Strom 1 Phase Motor Kippmomentkorrekturfaktor Motor Lastwinkel optimal Mator e hintnr Bollaneinentifikatinn Siram Laden ins Zielsystem WWB5 824 i Die Daten werden ins Zielsystem geladen Dieser Vorgang kann einige Minuten dauern IV Nach dem Laden RAM nach ROM kopieren Ladevorgang starten SKI 132 133 135 136 139 140 142 143 144 145 146 149 149 150 1st 1592 153 154 155 156 157 24 Switch the drive online and load the parameters into the tar get unit NOTE With respect to the use of other functions Instruction manual for Siemens Sinamics S120 series or contact the Siemens support team 01 07 ERS 135 210 560V en SCHUNK e7 Start up 9 3
2. SCHUNK e 5 Finish project 01 07 ERS 135 210 560V en Start up Parameterizing ee Projekt Bearbeiten Zielsystem Ansicht Extras Fenster Hilfe cujas pais f f 51 4 vol pe Seife ee EE Inbetriebnahme i93 Einzelantriebsger t einf gen Ela 5120_cu320 Antriebsger t konfigurieren be gt bersicht H Kommunikation H gt Topologie Bm Control Unit BA Einspeisungen H Ein Ausgabe Komponenten 5 09 Antriebe 3 93 Antrieb einf gen EHI Dokumentation i BIBLIOTHEKEN SINAMICS H E BEOBACHTEN 1 Integrate the drive unit double click on Integrate drive unit TC STARTER Inbetriebnahme_ERS Projekt Bearbeiten Zielsystem Ansicht Extras Fenster Hilfe psi 5 pen p o 2s px Safe ria nns BBY 29 B B Inbetriebnahme ERS E fs 5120 cusio pP 8 Antriebsger t konfigurieren fa Name Rs gt bersicht gt Kommunikation gt Topologie E Control Unit Ein Ausgabe Komponenten ER Je Allgemeines Technologiepakete Antriebsobjekt Nr Antrieb einf gen m Dokumentation Antriebsobjekte Typ Servo Auer E BIBLIOTHEKEN SINAMICS paa H E BEOBACHTEN 2 Name the drive e g ERS 01 07 ERS 135 210 560V en SCHUNK 27 SCHUNK e Start up Konfiguration 5120 CU310 DP Regelungsstruktur Antrieb ERS DDS 0 Leistungsteil Motor gt Funk
3. 7 Configure the brake E g Set No motor holding brake present SCHUNK gt 01 07 ERS 135 210 560V en Start up Konfiguration 5120 CU310 DP Geber Geber 3 Geberauswertung ERS Geber Name Geber_ 10000 8 Encoder 1 is preset Next without change 01 07 ERS 135 210 560V en SCHUNK e SCHUNK e Start up Konfiguration 5120 CU310 DP Ma system Antrieb ERS DDS 0 Gebersystem f r die Lageregelung Die Auswahl des Gebersystems fur die Lageregelung und Lageauflasung Getriebe etc ist antriebsdatensatzabhangig DDS lt Zur ck Abbrechen Wie 9 Configuration of system of dimensions Next without change 01 07 ERS 135 210 560V en Start up Konfiguration 5120 CU310 DP Mechanik Antrieb ERS DDS 0 Der Lageregelung ist folgender Geber zugeordnet Gebet Ma system KERE ANNA Integrierte Geberauswertung Konfiguration der Mechanik ist erst nach ausgelesenen Geberdaten m glich i il Zusatzdal Die Konfiguration kann dann erfolgen uber Maske Technologie4L ageregelung4Mechanik oder erneutem Assistenten Durchlauf gt Modulokorrektur aktivieren 3o 4 Lageistwert sollwert f ngt wieder bei LU an nach Lageverfolgung Lastgetriebe o JT Aktiviere
4. Start up Positioning run Sollwertbox Achse 2 Defaut Achse 2 Default 97 419 Diagnose A4003 Einrichtbetrieb aktiv Betriebsmodus Geschwindigkeits Istwert 10 9863 U min Aktiver Lageistwert 0 1267 Grad Reversieren Lagegeregelt v Reversieren Lagegeregelt Schrittbetrieb Lagegeregelt Reversieren Geschwindigkeitsgeregelt Antriebsfreigabe Schrittbetrieb Geschwindigkeitsgeregelt Aufnahme Rastmomententabelle o Freigabe V Beschleunigung 100 000 rad o Antriebe AUS a CC Sma 5 i Verweilzeit 1000 a Easy Startup Modus Antriebsoptimierung Position 2 0 0000 Grad Stop 1 Select a position controlled positioning movement under Operating mode NOTE With respect to the use of other functions Bosch Rexroth IndraDrive C user manual or support from Bosch Rexroth SCHUNK e 01 07 ERS 135 210 560V en Start up 9 2 Start up ofthe Siemens Sinamics S120 CU310 CU320 NOTE The brief instruction in this chapter is solely relevant for the simple start up of the ERS with Siemens Sinamics S120 CU310 CU320 The user manual of the converter takes precedence Failure of or irreparable damage to the drive if the following parameters are not configured correctly e p 340 Automatic calculation of motor control parameters 3 e p 383 Motor limit current ERS135 3 8A ERS170 5 98A ERS210 5 7A e p604 Motor overtemp
5. to 180 s H 4 1 t s 0 4 0 8 Swiveling time diagram ERS 135 560V swing time pulse off time Torque characteristic la 8 4 a UNANO ESANG KA 3 Z z n s 5000 10000 15000 Torque characteristic ERS 135 560V SCHUNK 01 07 ERS 135 210 560V en Technical data 6 1 2 Data ERS 170 560V NOTE The Rotary Module ERS has to be mounted on a thermally well conducting surface Mechanical operating data Heat conduction surface mm 49302 Weight ig 5 2 E a o y yO 32 Ambient temperature C Min 5 Max Mass moment of inertia of rotating parts kgm 0 003859 Max permissible mass moment of inertia kgm Rotation range gt 360 turning endlessly Repeat accuracy 0 01 Distribution of the end positions of 100 successive motions When approaching from the same direction Permissible operating mode S1 continuous operation Applies only if the preconditions in chapter Mechanical connection 8 1 Page 35 are fulfilled Otherwise S6 continuous mode with intermittent load is the permitted operating mode Specifications for the integrated motor Temperature sensor type KTY84 130 Max permissible operating temperature C Insulation class Class F DIN 57530 Output shaft power P kW Intermediate circuit voltage Uz V Rated torque M Nm Nominal current Ams SCHUNK 0 01 07 ERS 135 21
6. 43 46 0 02 w U N o NG no gt ON I a 4S i o lo NI Assembly drawing ERS 135 01 07 ERS 135 210 560V en SCHUNK e Assembly drawings 14 2 ERS 170 60 64 0 02 f NT D F N N I o o N on NO I o o N _ 170 55 E 250 5 O48 6 on on g F 1232 V x 80 a 9103 9111 D144 73 _57 49 0 02 9 56 51 0 02 KO A N e o ex N it o O N Assembly drawing ERS 170 SCHUNK 0 01 07 ERS 135 210 560V en Assembly drawings 14 3 ERS 210 70 34 0 02 _68 66 0 02 Z0 OFZ 0 09 Z0 OFE6 09 Assembly drawing ERS 210 01 07 ERS 135 210 560V en SCHUNK e7 Translation of original declaration of incorporation 15 Translation of original declaration of incorporation in terms of the Directive 2006 42 EG Annex Il Part 1 B of the European Parliament and of the Council on machinery Manufacturer SCHUNK GmbH amp Co KG Spann und Greiftechnik Distributor Bahnhofstr 106 134 D 74348 Lauffen Neckar We hereby declare that on the date of the declaration the following incomplete machine com plied with all basic safety and health regulations found in the directive 2006 42 EC of the Euro pean Parliament and of the Council on machinery The declaration is r
7. nee 88 12 1 Maintenance and lubrication intervals eese 88 12 2 Module Servi6lliB ass GAN AA 89 12 3 Modgulzerleeen Jane AA a uh ANE RE CE 89 Transport storage and disposal GA aab tubae culla eu cuba veu eu Dau dus eccevcaks 90 13 1 TIaNSDONE anana a aa S 90 13 2 Packaging ce 90 13 3 NA AA AA BN AP M 91 13 4 DISPOSA aaa een 91 Assembly draWINp Su msa NAGKAANAK GANANG 92 14 1 ERS 135 AA na 92 14 2 ERS 170 ee AA O E 93 14 3 ERS dna AANGAT AA 94 Translation of original declaration of incorporation sas aa ee eeeeeeee eee 95 15 1 Annex to Declaration of Incorporation eese enne 96 01 07 ERS 135 210 560V en SCHUNK 07 About this manual 1 About this manual This instruction is an integral part of the product and contains im portant information for a safe and proper assembly commission ing operation maintenance and help for easier trouble shooting Before using the product read and note the instructions especial ly the chapter Basic safety notes 1 1 Warnings To make risks clear the following signal words and symbols are used for safety notes Danger for persons Non compliance will inevitably cause irreversible injury or death Dangers for persons Ignoring a safety note like this can lead to irreversible injury and even death Dangers for persons Non observance can cau
8. Encoder sensor Assembly 1 Make sure that the interfaces to attachments are clean and undamaged e 2 Mount the rotary module on the machine via the correspond ing interface Six fastening screws are required for each fastening side NOTE All dimensions of the drawings can be taken from our website at www schunk com under CAD data service 01 07 ERS 135 210 560V en SCHUNK 6 Assembly Item Description msi a Mounting screws me Tightening torques for screws Sres pe MO vw SCHUNK 0 01 07 ERS 135 210 560V en Assembly 8 2 Electrical connection Risk of fatal injuries due to electric shock e Switch off power supply before assembly setting and main tenance and make sure that it cannot be accidentally switched back on again e Arbeiten an elektrischen Anlagen nur von Elektrofachkr ften durchf hren lassen e Disconnect the controller from the power supply The inter mediate circuit capacitors must be discharged wait about 5 minutes until the capacitors have discharged e Observe the sequence when connecting the cables grounding cable first then conductors NOTE Cables are electronic components which can react sensitively to high frequency interference or electromagnetic fields e Check that the cable is correctly connected and installed e There must be a sufficient distance between sources of interfe rence and their sup
9. 01 07 ERS 135 210 560V en Warranty 3 Warranty If the product is used as intended the warranty is valid for 24 months from the date of delivery from the production facility un der the following conditions e Observance of the ambient conditions and operating conditions 2 4 Page 9 e Observe the mandatory maintenance and lubrication intervals 7 12 Page 88 Parts touching the work piece and wearing parts are not part of the warranty 01 07 ERS 135 210 560V en SCHUNK e Accessories 4 Scope of delivery The scope of delivery includes e Electric rotary module ERS in the ordered model e SCHUNK CD with Parameter files for Bosch Rexroth IndraDrive C CS converter Parameter files for Siemens Sinamic S 120 CU310 DP and S 120 CU320 DP converters e Accessory pack 5 Accessories The following accessories that are required for the module must be ordered separately e Cable set power sensor cables e Y junction ID No 9957232 e Sensor cable ID No 9957233 The following accessories are required for the module e Controller Bosch IndraDrive C CS incl User s Manual Or Siemens Sinamics S 120 CU310 DP or S 120 CU320 DP incl User s Manual For information about which accessories can be used with the ap propriate product version catalog SCHUNK 0 01 07 ERS 135 210 560V en Technical data 6 Technical data 6 1 Basic Data More technical data are included in the cat
10. Steuerlogik Leistungsteiladapter ESL3040 0LA00 OAxx gt Technologie Leistungstel Typ Power Module gt gt Steuerung Regelung 8 3 Funktionen Bestell Nr E5L3210 15E14 1Uxx gt gt Meldungen und berwachungen LeistungstellBemessungsstrom 450 Aeff 8 2 Inbetriebnahme Leistungstei Bemessungeleistung 1 50 kW gt Kommunikation gt gt Diagnose m Dokumentation Erkennung ber LED 18 Double click the drive and select Configure DDS 19 Accept the settings in steps 3 4 and 5 Konfiguration 5120 CU310 DP Motor Antrieb ERS DDS 0 MDS 0 Zlsataral Kontigurieren Sie den Motor Motor Name ERS C Motor mit DRIVE CLiQ Schnittstelle 7 Motor ney auslesen Standardmotor aus Liste ausw hlen o ki Motortyp 2 Synchronmotor rotatorisch permanenterreg Y lt Zur ck Abbrechen Hilfe 20 In the motor configuration step Now select the Enter motor data field 21 Confirm all fields without changes up to Configuration of con troller data 01 07 ERS 135 210 560V en SCHUNK e7 Start up Konfiguration 5120 CU310 DP Berechnung der Motor Reglerdaten Antrieb ERS DDS 0 MDS 0 Regelungsstruktur ingsteil ingsteil Zusatzdal Berechnung der Motor Reglerdaten Vollst ndige Berechnung ohne Ersatzschaltbilddaten
11. hrtes Referenzieren 2 Select the referencing type Select the Drive guided referenc ing field to start the reference movement SCHUNK e0 01 07 ERS 135 210 560V en Start up Velocity run amp Achse 2 Default HE F hrungskommunikation He Motor Bremse Messsysteme He Wichtung Mechanik H E Grenzwerte HE Antriebsregelung HE Betriebsarten Antrieb Halt HE Fehlerreaktion E E Antriebsintegrierte Sicherheitstechnik gt Messtaster Ee Optimierung Inbetriebnahme p Easy Startup Modus bp Sollwertbox b Antriebsintegrierter Sollwertgener P Automatische Einstellung der Act b Frequenzganganalyse Lokale 1 0 1 Select the Reference value box under the Optimiza tion Start up folder Sollwertbox Achse 2 Defauk Achse 2 Default 2e 4 9 Diagnose 44003 Einrichtbetrieb aktiv Betriebsmodus Geschwindigkeits Istwert 25268 U min Reversieren Geschwindigkeitsgeregelt Aktiver Lageistwert 00964 Grad Schrittbetrieb Lagegeregelt Reversieren Geschwindigkeitsgeregelt Antriebsfreigabe Schrittbetrieb Geschwindigkeitsgeregelt Aufnahme Rastmomententabelle B L Freigabe V Verweilzeit 1 000 s o Antriebe AUS n 1 Verfahweg 3600000 Grad Essu tartup Modus Antriebsoptimierung o o Stop 2 Select the velocity movement type under Operating mode To start the movement click on Start 01 07 ERS 135 210 560V en SCHUNK
12. 2 Set velocity controller to Kp 1 Tn 0 3 Set current control to Kp 30 Tn 3 4 Set filter for speed control circuit Speed controller smoothing time constant O Setting the velocity 1 In velocity mode run the motor at a constant velocity of 15 controller rpm 2 Increase the Kp incrementally by 0 5 until the motor begins to vibrate 3 Reduce the vibrations by increasing the speed controller smoothing time constant If this is not possible Set the speed controller smoothing time constant to O and re duce the Kp until the vibrations cease Select the value that is half of the exact limit for Kp Select a high Tn value Reduce the Tn until the motor begins to vibrate no Ww A Select the value that is double the exact limit for Tn Setting the position 1 Increase the Kp until the desired positioning time is achieved controller NOTE Pay attention that no overshoot occures 2 Increase the Kp until the current curve is as smooth as desired Make the current curve visible using the oscilloscope functi on NOTE Be aware of noise emissions or vibrations 01 07 ERS 135 210 560V en SCHUNK 07 Control parameters 10 2 Siemens Sinamics S120 series F STARTER Temperaturtests STM Trace Projekt Messfunktion Bearbeiten Zielsystem Ansi epp 8 s pepe pe v Xa em sel x El amp Temperaturtests 5TM 9 5 Einzelantriebsger t einf gen cells SINAMICS 5120 CU310 DP LA Automatische K
13. at weather protected lo cations Class 3K3 applies The aforementioned standards result in the following parameters for the essential environmental conditions Environmental condition value Note Temperature EN 60068 2 2 55 C Relative humidity 55 non condensing dry heat in operation Temperature EN 60068 2 1 Cold storage in operation Temperature EN 60068 2 30 25 55 C Humid heat cyclic The product may be used at the following locations only if addi tional measures are taken e locations with high content of ionizing radiation e locations with extreme operating conditions such as caustic vapors gases oils or chemicals e systems requiring special monitoring such as high risk rooms In addition the product is not approved for use in potentially ex plosive zones If the product is subjected to excessively high jolts or vibrations suitable measures must be taken to damp the ampli tudes or accelerations of these interference factors In such cases use systems to damp or eliminate the vibrations 01 07 ERS 135 210 560V en SCHUNK 07 Basic safety notes Tests under environ Tests with respect to mechanical environmental conditions mental conditions The following table shows the type and scope of inspections for which the product was tested with respect to mechanical envi ronmental conditions Test Physical variable Value comment Vibrations EN 60068 2 6 Vibration Sinus Version 2008 Frequenc
14. micro valve is closed if there is no voltage at the micro valve In this state the holding brake is active The micro valve is opened if there is voltage at the micro valve In this state the holding brake is inactive 01 07 ERS 135 210 560V en SCHUNK Assembly 8 Assembly 8 1 Mechanical connection Risk of injury when the machine system moves unexpectedly e Remove the energy supplies e Make sure that no residual energy remains in the system Malfunction due to mechanical stress in the housing possible e Observe the requirements for the evenness of the mounting surface Check the evenness The values relate to the entire bolting surface of the bolting surface Requirements for levelness of the bolting surface Dimensions in mm Diameter Permissible unevenness 100 0 02 Prerequisites Depending on the load it is necessary to make sure that the re sulting power losses are dissipated e The ERS must be mounted on a surface with good thermal con ductive properties To achieve the IP protection class 40 e Design the connection structure so that no chips cooling water or dirt can enter the ERM s connection area from the working area SCHUNK 0 01 07 ERS 135 210 560V en Assembly NOTE Note the position of the reference mark during installation 6 A NG Position of the reference marks AN h Indexing pulse 2
15. products Portable hand held and or guided machinery Portable fixing and other impact machinery 01 07 ERS 135 210 560V en SCHUNK 07 Translation of original declaration of incorporation Machinery for working wood and material with similar physical charac teristics Supplementary essential health and safety requirements to offset ha zards due to the mobility of machinery Supplementary essential health and safety requirements to offset ha zards due to lifting operations Supplementary essential health and safety requirements for machinery intended for underground work Supplementary essential health and safety requirements for machinery presenting particular hazards due to the lifting of persons SCHUNK 07 01 07 ERS 135 210 560V en Notes Notes 01 07 ERS 135 210 560V en SCHUNK 6
16. ver sion 1 3 1997 Title Classification of environmental conditions Part 3 Classification of groups of environmental parameters and their severities Section 2 Transportation Class 2K4 applies The aforementioned standards result in the following parameters for the essential environmental conditions The information applies ifthe product is transported and stored in the original package Free fall EN 60068 2 32 In the transport package 5 g Temperature EN 60068 2 2 Test Bb dry heat storage Temperature EN 60068 2 1 Test Ab cold storage Temperature shock 40 70 C Test Na holding time 3 h 5 cycles EN 60068 2 14 Air pressure IEC 60068 2 13 1140 660 hPa Corresponds to an elevation of 1000 3500 m SCHUNK 0 01 07 ERS 135 210 560V en Basic safety notes Requirements during The following overview shows the permissible environmental con operation ditions for the product Mechanical environmental conditions Standard IEC 60721 3 2 version 1 3 1997 Title Classification of environmental condi tions Part 3 Classification of groups of environmental parame ters and their severities Section 3 Stationary use at weather protected locations Class 3M3 applies Climatic environmental conditions Standard IEC 60721 3 2 ver sion 1 3 1997 Title Classification of environmental conditions Part 3 Classification of groups of environmental parameters and their severities Section 3 Stationary use
17. without the express consent from SCHUNK Additional bore holes threads or attachments that are not offered by SCHUNK as accessories may impair the safety of the product and are only permitted with the approval of SCHUNK Error free and safe operation of the product requires proper transportation and storage observation of the assembly and installation regulations that apply to the product as well as careful and responsible operation and servicing Improper handling of the product failing to observe the safety notes and manipulating the maintenance products may dam age the product and also cause serious injury A risk assessment must be created for the system or machine into which the product is to be installed The operator must product monitoring strategies and superordinate measures for personal protection based on the risk analysis In this the safety rules that apply to the entire system or machine must be taken into account 01 07 ERS 135 210 560V en SCHUNK 07 Basic safety notes 2 4 Ambient conditions and operating conditions e The module may be used only in the context of its defined ap plication parameters 6 Page 20 e Operate the procuct protected against splashes fumes poll tion and EMC influences 2 4 1 Electromagnetic compatibility Standard EN 61000 6 2 2006 EN 61000 6 3 2011 Interference variables The module fulfills the requirements of the EMC law of the Single European Market T
18. 0 560VJen Technical data Torque constant K Nm A ms Winding resistance phase phase R20 ohm Winding inductivity phase phase L20 mH Number of pole pairings N n Specifications for the integrated measuring system Type 1V sin cos signal analog magnetic measuring system with reference track Power supply VDC 5 10 Mean current input mA Number of poles 01 07 ERS 135 210 560V en SCHUNK 07 Technical data Swiveling time diagram sram 0 20 y t 180 s ts 90 s tp 180 s tp 90 s 0 10 mha een NENENG JEN AG BN 0 4 0 8 s Swiveling time diagram ERS 170 560V swing time pulse off time Torque characteristic i af Jte S E AA 9 E n s 2000 4000 6000 8000 10000 Torque characteristic ERS 170 560V 01 07 ERS 135 210 560V en SCHUNK 27 Technical data 6 1 3 Data ERS 210 560V NOTE The Rotary Module ERS has to be mounted on a thermally well conducting surface Mechanical operating data Heat conduction surface mm Weight ig Dimension 210x77 Center bore mm Ambient temperature C Min 5 Max 55 Mass moment of inertia of rotating parts kgm 0 011278 Max permissible mass moment of inertia kgm Rotation range gt 360 turning endlessly Repeat accuracy 0 01 Distribution of the end positions of 100 successive motions
19. 1 key number 2 key number IP 54 Protected against dust in Protection against splash harmful quantity ing water from all sides 01 07 ERS 135 210 560V en SCHUNK Design and description 7 Design and description 7 1 Design 7 2 Overview Torque motor Area of application Operating modes SCHUNK e Plug sensor cable Sealing flange a Plug power cable B8 Rotor moving Description The ERS is a completely mounted permanently excited synchron ous in a cylindrical housing with a center bore Der ERS besitzt ein integriertes Positionsmesssystem In der Mo torwicklung ist ein Temperatursensor integriert The ERS belongs to the category of torque motors The typical cha racteristics of a torque motor are its high torque low speeds and a strong rigidity The ERS is used typically for rotating and pivoting of large masses The center bore can be used as a media feed through The ERS must be operated using a controller The following operat ing modes may be selected e power contolled e speed controlled position controlled 01 07 ERS 135 210 560V en Design and description 7 3 Mechanische Schnittstellen Maintenance free The ERS is mounted on a single four point bearing This bearing is lubrification lubricated via one time grease lubrication Under normal operat ing conditions lubrication for 20 000 operating hours is sufficient 1
20. 2 1 Page 88 Position of the mechanical interfaces 14 Page 92 7 4 Electrical interfaces controller i UVW PE encoder supply encoder voltage 8 encoder encoder plug connection e pa ERS basic U y winding 2 temperature sensor KTY84 ERS circuit diagram 01 07 ERS 135 210 560V en SCHUNK Design and description 7 5 Type key and name plate Order designation ERS xxx xxx Size Voltage IP tightness Brake Rotary feed through D with rotary feed through ERS 210 d 210mm ERS 170 d 170mm ERS 135 d 135mm 560 560V rated motor voltage 40 IP 40 N without brake B with brake N without rotary feed through Encoder systerh incremental Type key and name plate The nameplate is attached to one of the broad sides of the module Specifications on the name plate example ERS 210 560V Manufacturer Type model protection class Rated torque Mp Voltage Un Current lj SCHUNK 0 01 07 ERS 135 210 560V en Design and description 7 6 Optional holding brake NOTICE This is a holding brake and not a service brake Micro valve MV15 a swivel fitting 3 valve cover 2 Cartridge 4 Sound absorber Connection cable YEA END Brake option Contact surface between brake pad and rotor 2 Pre loaded brake piston with brake pad NOTE The
21. 3496 QM08 Reg No 003496 QM08 SEEN x le 01 07 ERS 135 210 560V en SCHUNK 07 1 a uu A Uu Table of Contents Table of Contents About this Mana ee APA APAPAP 5 LI Warning ek 5 1 2 Applicable doOCUDTO S ebenen 6 Basic safety NOLES XA ee EUER ERAS DEN CRAP NR REN LAE 7 21 Intended NETT AA AY 2 2 2 NOt intended IT T m T mU Tes 7 23 General safety NOLES RT Rm 7 2 4 Ambient conditions and operating conditions essere 9 2 4 1 Electromagnetic compatibility nee 9 242 Environimentaleonditians auseeeneeaeieebinse 11 2 5 Personnel qualifiesatian eaeke GN 13 2 6 The use of personal protective equipment essere 13 2 7 Noteson particular risks naa aaa naa a a maa a NGGE BN AHAB GENE ag e 14 Warranby aNG 18 Scope OF GElIVEIY nee 19 ACCESSO nn EEE 19 Technical data isses eg prd RO V RR RH RR Du RO tu MR 20 6 1 Basic Data se ee 20 6 1 1 Data ERS 13S BOUM esse ee 20 6 1 2 Data ERS 170 BBOV ni ee 23 bl Data ERS 210 560V ae a ana har 26 6 2 SCHUNK power and sensor cable NA b nenen 29 6 3 Optional holding DEBERE aa NG GAANO kA 29 6 4 Pneumatic electrical feed through option ccccccscecsseceseceeseecssecesseecsseesseeeeaeens 30 Go TPS ESANG 30 Design and deschipbtolisss eon pni AN RR Rn ER NANG RU NND 31 PANE Di E T 31 NM edo e see 31 Z3 Mechanische Schnittstellen sawawa t rien eere
22. Everything okay ERS can continue to bearing noise be operated Uneven grinding noise The motor is not set up correctly e check the evenness of the mount ing surfaces Mechanical connec tion Loud and uneven noise The motor is not set up correctly motor not running e check the evenness of the mounting smoothly surfaces Mechanical connection bearings defective e Send the ERS to SCHUNK along with a repair order Cleaning Clean the ERS dry at regular intervals to remove all dirt If the housing is soiled please only rub it dry e g with a cloth Do not immerse or spray When all maintenance work has been completed Refit the safety devices provided such as covers and safety switches 12 3 Modul zerlegen The module may only be disassembled and repaired by SCHUNK otherwise injuries to mechanism may occur Non compliance will invalidate the warranty SCHUNK 0 01 07 ERS 135 210 560V en Transport storage and disposal 13 Transport storage and disposal 13 1 Transport The packaging must protect the drive from all external effects such as mechanical shocks and humidity Protect the module from shocks Package the module in such a way that the electrical supply lines do not obstruct transport and are not damaged them selves Comply with climatic category 2K3 in accordance with EN50178 Transport temperature 5 C 23 F to 60 C 140 F with maximum fluctuations of 20 K hour T
23. Hz HF energizing on lines and Test voltage 10 V with amplitude modulation shields according to 80 96 of 1 kHz in the range from 150 kHz EN 61000 4 6 80 MHz Emission of radio The emission was tested according to EN 61000 6 3 and con interference firmed 0 15 0 5 MHz lt 66 dB uV quasi peak lt 56 dB uV mean value 0 5 5 MHz lt 56dB uV quasi peak lt 46 dB uV mean value 5 30 MHz lt 60 dB uV quasi peak lt 50 dB uV mean value The following table shows the emission of electromagnetic fields according to EN 55011 2009 limit class A group 1 measured at a distance of 10 m Interference variable Value 30 230 MHz lt 30 dB uV quasi peak measured at 10 m 230 1000MHz lt 37 dB uV quasi peak measured at 10 m 01 07 ERS 135 210 560V en SCHUNK 07 Basic safety notes 2 4 2 Environmental conditions Requirements for This product exceeds the requirements of IEC 61131 2 2007 with transport and storage respect to permissible environmental conditions The following in formation applies if the product is transported and stored in the original package Mechanical environmental conditions Standard IEC 60721 3 2 version 1 3 1997 Title Classification of environmental condi tions Part 3 Classification of groups of environmental parame ters and their severities Section 2 Transportation Class 2M2 ap plies Climatic environmental conditions Standard IEC 60721 3 2
24. Inbetriebnahme des ERS mit einem beliebigen Umrichter NOTE This chapter is only a quick guide for the simple commissioning of the rotary module ERS with an arbitrary controller Signigicant is the user s manual of the controller v Before commissioning the controller read carefully the user s 8 manual of the controller Connect electrical connections power cable signal cable to the controller Check that the rotor can be turned freely Check that all required contact protection measures were tak en for moving and live parts Switch on the controller and start the commissioning software Establish communication with the module and configure the controller Check the encoder signal and the signal of the temperature sensor Control the ERS and optimize the parameters Check the bearing noise at regular intervals 12 2 Page 89 NOTE If the unit is referenced via the encoder s zero pulse free motion must be ensured within the range of 360 SCHUNK e Using the ERS in a multiple axis system Recommendation put the axes into operation individually To avoid collisions Prior to the first movement check the alignment of the ERS the set direction of counting of the measuring system and the motor s direction of rotation 01 07 ERS 135 210 560V en Control parameters 10 Control parameters 10 1 Bosch Rexroth IndraDrive C CS Basic setting Basic setting 1 Set position controller to Kp 0 5
25. NK e0 01 07 ERS 135 210 560V en Start up Kommutierungseinstellung Achse 2 Defauk Achse 2 Default rt E O gespert Erweiterte Einstellungen Manuelle Abstandsmessung D automatisches R ckfahren abschalten S ttigungsverfahren en Sinusverfahren Erforderlicher Oberwellenanteil 40 D Erstkommutierung Dieser Parameter sollte nur in Ausnahmef llen angepasst Der aktuell wirksame Kommutierungs werden Siehe Parameterbeschreibung zu P 0 0517 Offset wird sofort in den nicht fl chtigen Speicher bernommen Einstellungen Tessind wirksamer Offset 0 Amplitude 368 V Offset 0 A Frequenz 500 Hz Offset Geberspeicher 0 Durch den Startwert 0 f r Amplitude werden die motorspezifischen Werte f r Kommutierungsoffset ermitteln YY Amplitude und Frequenz automatisch ermittelt Kommutierungsoffset nachoptimieren 13 Establish the new commutation offset NOTE When the drive is enabled a field appears in the foreground of the screen that can be used to switch off the drive ERS in an emergency HCS02 1 2 Default Antrieb AUS 14 Choose between the various options c Referencing c Velocity run c Positioning run 01 07 ERS 135 210 560V en SCHUNK Start up Referencin 6 GE Achse 2 Default Gy F hrungskommunikation h E Motor Bremse Messsysteme p Motor p Motor Temperatur Bremse EE Motorgeb
26. Pax ele so RE Ub bed xu ANNA AL 32 7 4 Electrical interfaces een 32 7 5 Type key and name plate su 33 7 6 Optional holding Brake 34 DC nee 35 8 1 Mechanical connection a 35 B Bleetricalce nnectin aaa 38 SCHUNK e7 01 07 ERS 135 210 560V en Table of Contents 10 11 12 13 14 15 83 Optionalhk lling Brake nsn eek 42 8 3 1 El ctrical Connection and 43 8 3 2 Dismantling micro valV amp ii recie cusa prep ANA 44 8 3 3 Installing and connecting the micro valve esee 45 8 3 4 Realigning the connection cable uussessssnseenssnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnn 47 Starr Up M 48 9 1 Start up of the Bosch Rexroth IndraDrive C CS sss 49 9 2 Start up of the Siemens Sinamics S120 CU310 CU320 eene 58 9 3 Inbetriebnahme des ERS mit einem beliebigen Umrichter sssssse 79 Control panama kakasa AABANGAN 80 10 1 Bosch Rexroth IndraDrive C CS Basic setting c cccsscesseesssecsseeesseecsseeeseeeesseeees 80 10 2 Siemens Sinamics S120 series u ara KA AA baue 81 TEBUDIESNODLINE Hap ANNA een 85 11 1 ERS dreht sich nicht AA AA 85 11 2 ERS has regulation difficulties yasni nanan ksapn sasa 86 11 3 ERS SCN AGES ae ee 86 ILA Bearing NO D 86 11 5 Error message for the winding temperature 0 000002220000uuanunaawunuaauasawanasasassana 87 Maintenance and Care
27. R5232 HNC100 3 AitNC Seriell A5232 IndraDrive Seriell AS 232 4 Al Zur ck Abbrechen 5 Select the interface on the converter Nach Ger ten suchen COM Ports Verf gbar Ger t IndraDrive seriell R5232 COM Port Baudrate und Parity ausw hlen Suchen an COM4 COM1 Baudraten v Abgleich Baudrate QO 3600 19200 38400 o O 57600 115200 Parity v None v Even Odd Standardeinstellung Abbrechen 6 Select the interface on the computer 01 07 ERS 135 210 560V en SCHUNK 7 Start up Nach Ger ten suchen Liste aller gefundenen Ger te Ger tfe ausw hlen die in das Projekt bernommen werden sollen IndraDnye COM Port COM1 Baudrate 19200 Parity None Mode R5232 Ger tesuche starten Adresse 2 Ger 7 When the desired device has been found click on Finish Pl IndraWorks Engineering Startbild Datei Bearbeiten Ansicht Projekt Default Diagnose Extras Fenster Hilfe Startbild Gi Syl IndraworksProject 001 a Ho Indradrive 2 Default b Leistungsversorgung Boo 1 chse 2 Default ffnen Sie ein vorhandenes Projekt oder erzeugen E F hrungskommunikation noie w Motor Bremse Messsysteme E B Wichtung Mechanik ij Leeres Projekt erzeugen a Saka Ty Ger te suchen E G Antriebsr
28. Short circuit to ground due to moisture or short circuit to ground due to electrical defect e Check the protective conductor e Check the electrical connection and connectors for ground leakage If the ERS has a ground leak while the power cable is disconnected e ERS must be sent to SCHUNK with a repair order Incorrect phase connections e Check the electrical connections Electrical connection SCHUNK e0 01 07 ERS 135 210 560V en Trouble shooting Possible cause Corrective action Incorrect controller settings e Check the parameters and setting values see oper ating manual for the controller Motor phases or encoder signals confused e Check the electrical connections Electrical connection e Check the encoder signals and the shielding of the encoder cable 11 2 ERS has regulation difficulties Possible cause Corrective action Controller settings not ideal e Check the controller settings direction of rotation of motor and encoder di rection of counting 11 3 ERS oscillates Possible cause Corrective action Motor overload e Check the dimensioning e Reduce the load e Check the controller settings Controller settings not ideal e Check the controller settings 11 4 Bearing noise Possible cause Corrective action Incorrect assembly e Check the evenness at the mounting surface Mechanical connection Bearing defective due to overload e ERS must be sent to SCHUNK with a rep
29. Translation of Original Operating Manual Electric rotary module ERS 135 210 560V Assembly and Operating Manual Superior Clamping and Gripping SCHUNK 07 Imprint 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 ofthe 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 0389064 Edition 01 07 13 04 2015 en SCHUNK GmbH amp Co KG 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 Kindest Regards Yours SCHUNK GmbH amp Co KG Spann und Greiftechnik Bahnhofstr 106 134 D 74348 Lauffen Neckar or Tel 49 7133 103 0 Net Fax 49 7133 103 2399 Foo E Net info de schunk com Qa wr www schunk com Reg No 00
30. When approaching from the same direction Measuring system Incremental IP rating Permissible operating mode S1 continuous operation ll Applies only if the preconditions in chapter Mechanical connection 8 1 Page 35 are fulfilled Otherwise S6 continuous mode with intermittent load is the permitted operating mode Specifications for the integrated motor HM Rated torque M Nm Nominal current A Peak current Imax Arms Circuit Temperature sensor type Max permissible operating temperature C Insulation class Output shaft power P kW Intermediate circuit voltage Uz V 01 07 ERS 135 210 560V en SCHUNK Technical data Torque constant K Nm A ms Rated speed n rpm Max speed nmax rpm Winding resistance phase phase R20 ohm Winding inductivity phase phase L20 mH Number of pole pairings N Specifications for the integrated measuring system Type 1V sin cos signal analog magnetic measuring system with reference track Power supply VDC 5 10 Mean current input mA Number of poles SCHUNK 07 01 07 ERS 135 210 560V en Technical data Swiveling time diagram Torque characteristic 01 07 ERS 135 210 560V en t s 1 5 3 0 0 60 4 1 I Fi r 0 40 4 j ts 180 s 4 ts 90 s E 7 to 180 s 0 20 it s j Tr Fa 7 bo x tl 0 4 0 8 Swiveling time diagram ERS 210 560V ar
31. air order 01 07 ERS 135 210 560V en SCHUNK 07 Trouble shooting 11 5 Error message for the winding temperature Possible cause Corrective action The electrical connection to the e Check resistance between the controller and the temperature sensor is faulty temperature sensor in the ERS If necessary e replace the electrical connection Temperature sensor defective e Check the resistance of the temperature sensor If the resistance exceeds 630 Ohms at room tem perature ERS must be sent to SCHUNK with a repair order Thermal motor overload Reduce the load Mount the motor on heat conducting materials to dissipate excess motor heat Rotor is blocked mechanically Check the mechanical components Check the evenness at the mounting surface Mechanical connection Encoder signals are faulty encoder line shielding is not corrected Check the encoder s power supply Check the encoder signals and the shielding of the encoder cable The electrical connection to the Check resistance between the controller and the temperature sensor is faulty temperature sensor in the ERS If necessary e replace the electrical connection Motor overload overvoltage or un Check the dimensioning dervoltage Reduce the load Check the controller settings Check the output power supply SCHUNK 0 01 07 ERS 135 210 560V en Maintenance and care 12 12 1 Maintenance and care Maintenance and l
32. alog data sheet Whi chever is the latest version 6 1 1 Data ERS 135 560V NOTE The Rotary Module ERS has to be mounted on a thermally well conducting surface Mechanical operating data Heat conduction surface mm 57686 Weight kg Dimension 135 x 63 Center bore mm Ambient temperature C Min 5 Max 55 Mass moment of inertia of rotating parts kgm 0 001431 Max permissible mass moment of inertia kgm 0 072 Rotation range 5360 turning endlessly Repeat accuracy 0 01 Distribution of the end positions of 100 successive motions When approaching from the same direction Measuring system Incremental Permissible operating mode S1 continuous operation Applies only if the preconditions in chapter Mechanical connection 8 1 Page 35 are fulfilled Otherwise S6 continuous mode with intermittent load is the permitted operating mode Specifications for the integrated motor Max permissible operating temperature C 01 07 ERS 135 210 560V en SCHUNK 07 Technical data intermediate circuit voltage Ua e Torque constant K Nm A ms Number of pole pairings Jas Type 1V sin cos signal analog magnetic measuring system with reference track Power supply VDC 5 10 Mean current input mA 25 Number of poles 160 SCHUNK 07 01 07 ERS 135 210 560V en Technical data Swiveling time diagram Pi ts 180 s ee PA SUE
33. art up 9 Start up Malfunction in the event of an overload e Avoid impact loads e Do not exceed the bearing load limits Malfunction in the event of overheating e Observe the motor s technical data 6 Page 20 Pec Risk of injury and material damage when the machine system moves unexpectedly e Only allow configuration work to be carried out by authorized specialist personnel e Observe the information in the operating manual for the con troller A Collisions in setup mode when the machine system moves un expectedly The motor can run away e Keep the motor s moving range 360 free 01 07 ERS 135 210 560V en SCHUNK 6 Start up 9 1 Start up ofthe Bosch Rexroth IndraDrive C CS NOTE The brief instruction in this chapter is solely relevant for the simple start up of the rotary module ERS with Bosch Rexroth IndraDrive The user manual of the converter takes precedence The following description applies to firmware version MPH 05V12 D5 Connection of the v Read through the user manual of the converter before start converter to the ERS ing up the converter 1 Connect the converter to the three phase system 2 Connect the red power cable and the white sensor cable to the ERS 3 Connect the 15 pin D Sub plug of the sensor cable to the con verter 4 Connect the open ends of the power cable U V W and Earth to the converte
34. covers the valve cover with connection cable cannot be removed 2 Remove the valve cover 3 with connection cable and sound absorber 4 3 Unscrew the valve cartridge 2 from the swivel fitting 1 01 07 ERS 135 210 560V en SCHUNK 07 Assembly 8 3 3 Installing and connecting the micro valve Risk of injury when working on the micro valve e Switch off the energy supply e Switch off the compressed air supply NOTICE Damage to valve cartridges valve cover and accessories Valve cartridge valve cover and accessories can be damaged by using tools e Only install or remove the valve cartridge valve cover and ac cessories by hand Micro valve NOTE Always install the micro valves in the following sequence for ex ample to avoid unscrewing the screw cap from the valve cartridge if an accessory is fitted subsequently 1 Screw the hollow screw of the swivel fitting 1 lightly into the pneumatic unit 5 without tightening 2 Turn the swivel fitting 1 to the desired position and hold it firmly SCHUNK 0 01 07 ERS 135 210 560V en Assembly 3 Tighten the hollow screw of the swivel fitting 1 in this position Maximum torque 1 5 Nm 4 Screw the valve cartridge 2 into the swivel fitting 1 as far as possible Maximum torque 3 Nm 5 Screw the sound absorber 4 into the valve cover 3 Maximum torque 3 Nm 6 Put the valve cover 3 on the cartri
35. d through the user manual of the converter before start the connection ing up the converter CU310DP 1 Connect the motor with the converter 2 Connect the PC to the converter via a Profibus adapter 3 Switch on the converter and power unit SCHUNK 0 01 07 ERS 135 210 560V en Start up Creating a new pro ject Windows XP Professional 4 Initiate the Siemens Starter software ER STARTER Projekt Zielsystem Ansicht Extras Fenster Hilfe Meu Strg N Neu mit Assistent ffnen Strg H0 Schlielsen 1 Start anew project using the wizard Starter Projektassistent x 1 2 3 4 Einf hrung Neues Projekt FG PC Antriebs Zusammen erstellen Schnittstelle ger te fassung einstellen einf gen Antriebsgerate offline zusammenstellen 1 Neues Frojekt anlegen 2 Schnittstelle einrichten 3 Antriebsgerate einf gen vorhandenes Projekt ffnen offline IV Assistent beim Start anzeigen Abbrechen 2 Assemble the drive control unit offline 01 07 ERS 135 210 560V en SCHUNK e7 Start up Starter Projektassistent l x i E B 4 Einf hrung Neues Projekt PG PC Antriebs Zusammen erstellen Schnittstelle ger te fassung einstellen einf gen Geben Sie bitte die Projektdaten ein Projektname Inbetriebnahme E RS Autor Speicherort fc SProgramme sSIEMENS S H Kommentar Pa Weit
36. dge 2 with the connec tion cable in the required position 7 Push the valve cover 3 onto the cartridge 2 and screw tight with the knurled nut onto the cartridge 2 Maximum torque 3 Nm 8 Connect the pneumatic hose to the pneumatic connection of the swivel fitting 1 9 Push the Y distributor onto the M8 plug of the connection ca ble and screw tight 10 Push the cable extension onto the Y distributor and screw tight 11 Connect the cable extension to the electrical power supply 8 3 1 Page 43 12 Route the connection cable and cable extension and secure 01 07 ERS 135 210 560V en SCHUNK e Assembly 8 3 4 Realigning the connection cable NOTICE Risk of damage to the contacts The contacts can be damaged if the valve cover is screwed on firmly and the alignment of the connection cable changed e Define the position of the connection cable when the valve cover is put on Valve cover Carry out the following steps if the position of the connection ca ble should be changed 1 Unscrew the knurled nut 1 of the valve cover 3 from the valve cartridge 2 2 Remove the valve cover 3 from the valve cartridge 2 3 Puton the valve cover 3 again with the connection cable in the required alignment and hold it in position 4 Tighten the valve cover 3 on the valve cartridge 2 with the knurled nut 1 SCHUNK 0 01 07 ERS 135 210 560V en St
37. e new parameters NOTE The Siemens auto tuning process selects a fairly hard controller setting which can result in high noise emissions To reduce the noise emission it is recommended that the gain Kp of the speed controller to reduce by 30 5096 01 07 ERS 135 210 560V en SCHUNK Trouble shooting 11 Trouble shooting 11 1 ERS dreht sich nicht Possible cause Corrective action Interruption in the supply lines e Check the supply lines for defects e Check the electrical connections Electrical connection e Check the controller settings Controller is defective e DANGER Risk of fatal injuries due to electric shock Check whether there is voltage at the controller s output If there is no voltage e Check the connection pin assignment Electrical con nection see operating manual for the controller Communication between master Check the communicaion and controller is interrupted Rotor is blocked mechanically e Check the mechanical components e Check the evenness at the mounting surfaceMe chanical connection Shaft encoder defective e Check shaft encoder and its connection If a defect is detected e ERS must be sent to SCHUNK with a repair order Short circuit between turns in the Check the connection resistance with a multimeter motor 6 Page 20 If the difference between the individual motor phases exceeds 0 1 Ohm e ERS must be sent to SCHUNK with a repair order
38. eas Aa SS aga a Paa aaa 24 Nm 8000 4000 n s Torque characteristic ERS 210 560V SCHUNK 27 Technical data 6 2 SCHUNK power and sensor cable Cable type Power Transducer Number of wires cross section 4x0 75 mm 2x0 25 mm 2x0 25 mm Max voltage V 24 Shielded Yes Yes strands Twisted No Yes Temperature application range 5 to 55 5 to 55 C NOTE Comply with the minimum bending radius 7 5 times the cable di ameter 6 3 Optional holding brake Micro valve MV15 Reference value ERS 135 ERS 170 ERS 210 Hose connection diameter internal mm Pressure medium Filtered compressed air oiled or dry compressed air purity acc to ISO 8573 1 2010 7 4 4 TIT TES Opening closing time of the brake at 4 5 bar ms Opening Closing Nominal flow rate at 6 bar NI min More technical data are included in the catalog data sheet Whi chever is the latest version SCHUNK e0 01 07 ERS 135 210 560V en Technical data 6 4 Pneumatic electrical feed through option NOTICE Irreparable damage to the DDF due to high RPM e The maximum permitted RPM of the DDF option is 250 RPM Design of the DDF variant Output side flange 2 Basic module ERS Input side connection baseplate 6 5 IP54 version NOTE Due to the installed rotary seal version IP54 has lower technical data as version IP40
39. egelung H O Betriebsarten Antrieb Halt E Fehlerreaktion Zuletzt ge ffnete Projekte E Antriebsintegrierte Sicherheitstechnik gt Messtaster Name E E Optimierung Inbetriebnahme HQ Lokale 1 0 Anew project is created automatically in the project explorer FA IndraWorks Enginee Sta d Datei Bearbeiten Ansicht Projekt Indradrive Diagnose Extras Fenster Hilfe Startbild Offline schalten ffnen Sie ein vorhandenes Proje Offline Parametrierung starten line i lisi na Offline Parametrierung aktualisieren Neues Projekt amp Funktionspakete dA Leeres Projekt erzeugen amp Parameter x Parametereditor a a Firmware Verwaltung amp z Parametergruppe amp L schen ite Exportieren amp 5 Umbenennen in Importieren O Eigenschaften B MMC Einstellungen a Betriebsdaten f r MMC erstellen 8 Import the parameter file supplied on the SCHUNK CD SCHUNK e0 07 ERS 135 210 560V en Start up jodus g Easy Startup EciProjektenplorer gl IndraWorksProject 001 S Bo Indradiive 2 Default gt Leistungsversorgung 3 Achse 2 Default F hrungskommunikation E Motor Bremse Messsysteme 8 Wichtung Mechanik BG Grenzwerte E CS Antriebsregelung I C Betriebsarten Antrieb Halt E Fehleneaktion C3 Antiebsintegrierte Sicherheitstechnik gt Messtas
40. em s risk potential is high Hot surfaces e Do not touch hot surfaces e g brake resistors heat sinks drive units windings and sheet packets It may take up to one hour for some components to cool off after they have been switched off If necessary wear personal protective equipment gloves 01 07 ERS 135 210 560V en SCHUNK 07 Basic safety notes Risk of electric shock due to contact with live parts e Before conducting work on the machine and the auxiliary equipment disconnect them from the power supply and make sure they cannot be switched back on again e Wait until the frequency controller is discharged Risk of injury from objects falling and being ejected e The danger zone must be surrounded by a safety fence during operation Risk of injury due to moving parts if these are controlled incor rectly Possible causes for control errors e Incorrect cabling or wiring e Removal of safety devices e Software errors e Sensor and signal transmitter errors e Entry of incorrect parameters prior to start up e Defective module Risk of burns due to contact with hot surfaces During operation the surface temperature may exceed 105 C 221 F e Allow the module to cool down to at least 40 C 104 F before working on the module e Measure the surface temperature before touching the module e Wear protective gloves if necessary SCHUNK 0
41. en stehenden Sicherheitshinweise sorgf ltig gelesen habe und gebe Reglerfreigabe f r die ausgew hlte Achse Ma nahmen Not Stop Schalter leicht zug nglich in unmittelbarer N he anordnen 3 Die Funktion der Not Aus Einrichtung vor der Inbetriebnahme pr fen Vor dem Zugriff oder Zutritt in den Gefahrenbereich die Antriebe sicher zum Stillstand bringen und gegen unbeabsichtigten Anlauf sichern zum Beispiel durch Freischalten des a OK Abbruch Hite 11 Read the warning attentively and acknowledge it by clicking OK NOTE In the case of the Bosch Rexroth IndraDrive C CS converter it can occur that the commutation current is too low or too high follow ingthe enable If one ofthese errors occurs e delete error TI gg Achse 2 Default Gh F hrungskommunikation HE Motor Bremse Messsysteme GQ Wichtung Mechanik H E Grenzwerte Antriebsregelung bp Antriebsregelung bersicht He Achsregelung Bey Motorregelung bp Motorregelung bersicht bp Feldregelung pP Strombegrenzung b Stromregelung b b b Ml Kommutierungseinstellung gt Statusmeldungen H E Kompensationsfunktionen Kore Betriebsarten Antrieb Halt hE Fehlerreaktion HE Antriebsintegrierte Sicherheitstechnik p Messtaster H E Optimierung Inbetriebnahme ef Lokale 1 0 12 Then go to the following location Drive control gt Motor control gt Commutation settings SCHU
42. endered invalid if modifica tions are made to the product Product designation Electric rotary module ERS 135 210 560V elektric ID number 0310146 0310150 0310178 0310180 0310182 0310184 0310210 0310212 0310214 0310216 The product also complies with LVD Directive 2006 95 EC Applied harmonized standards especially EN ISO 12100 2011 03 Safety of machinery General principles for design Risk assessment and risk reduction EN 60204 1 2006 Safety of machinery Electrical equipment of machines Part 1 General requirements IEC 60204 1 2005 modified EN 61000 6 2 2005 Electromagnetic compatibility EMC Part 6 2 Generic standards Immunity for industrial environments IEC 61000 6 2 2005 EN 61000 6 4 2007 Electromagnetic compatibility EMC Part 6 4 Generic standards Emission standard for industrial environ ments IEC 61000 6 4 2006 EN ISO 9409 1 2004 Industrial robots Mechanical interfaces Part 1 Plates ISO 9409 1 2004 German version EN ISO 9409 1 2004 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 The manufacturer agrees to forward on demand the relevant technical documentation for the partly completed machinery to state offices The special technical documents according to Appendix VII Part B belonging to the incomplete mach
43. ents Dismantling the micro valve into its individual components 7 8 3 2 Page 44 Installing the individual components 8 3 3 Page 45 e f the micro valve is supplied in individual components install the individual components 8 3 3 Page 45 Electrical connection SCHUNK e NOTICE Damage to the cable is possible The bending radius of the cable is not allowed to be less than the minimum amount e Static 10 times the cable diameter e Dynamic 15 times the cable diameter suitable for cable tracks NOTE Route and secure the connection cable so there are no tensile and twisting forces on the valve cover Tensile and twisting forces can cause the screw cap to come loose and lead to contact problems oto 1 3 PIN allocation M8 plug and cable color table extension Black Control voltage 24 VDC Screw cap with LED If the connection cable of the micro valve has been connected cor rectly to the electrical power supply the LED in the screw cap will light up when the 24 VDC voltage is applied 01 07 ERS 135 210 560V en Assembly 8 3 1 1 Connection to Siemens Safe Brake Relay pe lou w o 8 3 1 2 Connection to Bosch Rexroth IndraDrive X6 3 Black 24 VDC X6 4 Blue GND 8 3 2 Dismantling micro valve iani Dismantling micro valve 1 Undo the knurled screw on the valve cover 3 NOTE In valves with fixed
44. er b Einstellungen Motorgeber pb Ma bezug Motorgeber my Optionaler Geber bp Positionsschaltpunkt C wichtung Mechanik E Grenzwerte 5 Antriebsregelung Betriebsarten Antrieb Halt Fehlerreaktion Antriebsintegrierte Sicherheitstechnik p Messtaster Optimierung Inbetriebnahme p Easy Startup Modus b Sollwertbox p Antrebsintegrierter Sollwertgenerz p Automatische Einstellung der Ach pP Frequenzganganalyse fA Lokale 1 0 a Er Ec Ec Er 1 Gotothe following location Motor Motor encoder Motor encoder dimensional reference Ma bezug Motorgeber Achse 2 D efauk Achse 2 Default 9 49 Anfahrrichtung Laae Rechtsdrehung E Lageistwert 0 1169 Grad Linksdrehung Rieferenzma 0 0000 Grad Auswertung von Referenzfahren CJ Referenzmarke Nulimpuls Geschwindigkeit 20 0000 U min C Referenzschalter Pasive HENKE negative Flanke Beschleunigung 50 000 radi C Endschalter als Nullschalter Bee Fade 100 00 Festanschlag als Nullschalter E F ER Nocken verschoben um 0 0000 Grad Positionierfenster 01000 Grad Reeferenzschalter Dffset 0 0000 Grad Ruckgrenzwert bipolar 10000 000 rad s 3 Am Ende des Referenzieryorgangs o Motorgeber in Referenz O Stop BE Anlagenreferenz Auf Referenzpunkt positionieren i Metorgeber ptis es Gaber Offset 0 0000 Grad Y C System in Referenz Lagestatus l schen Antriebsgef
45. er gt Abbrechen 2 Assign the project a name e g Start up Starter Projektassistent x ib D 3 4 Einf hrung Neues Projekt PG PC Antriebs Zusammen erstellen Schnittstelle ger te fassung einstellen einf gen Legen Sie die Online Verbindung zum Antriebsgerat fest Eingestellte Schnittstelle PC Adapter PROFIBUS Andem und testen lt Zur ck wee Abbrechen c The PG PC interface has already been set to the Profibus adapter SCHUNK e0 01 07 ERS 135 210 560V en Start up Starter Projektassistent x ik 2 4 Einf hrung Neues Projekt PG PC Antriebs Zusammen erstellen Schnittstelle ger te fassung einstellen einf gen Geben Sie bitte die Antriebsgeratedaten ein r Vorschau Antriebsgerat El B Inbetriebnahme ERS Ger t Sinamics ffl 5120 cu310 DP Typ 120 CU310 DP Version 2 6 2 M Busadresse i Name 51 20_CU310_DP_1 Sinamics Tutorial Einf gen lt Zur ck Weiler gt Abbrechen 4 Select and integrate the drive unit The bus address is depen dent on the converter NOTE The following function can only be performed after an offline project has been created see step 2 Alternatively the Reachable participants function can be used for adding the drive unit automatically STARTER Inbetriebnahme ERS 0 Projekt Bearbeiten Zielsystem An
46. erature warning threshold 95 C e p605 Motor overtemperature fault threshold 105 C e p606 Motor overtemperature time stage 0 1s e p611 I2T time constant thermal 30s e p612 Thermal motor model configuration 1H e p615 I2T motor model fault threshold 90 C e p616 Motor overtemperature warning threshold 1 100 C NOTE e Only the values of the following parameter files are allowed to be used for start up of the individual sizes Without DDF ERS135 5522559 ERS135 CU310 320 FW4 ERS170 5522560 ERS170 CU310 320 FW4 ERS210 5522561 ERS210 CU310 320 FW4 With DDF ERS170 5523138 ERS170 DDF CU3xx FW4 ERS210 5523139 ERS210 DDF CU3xx FW4 e The parameters can either be loaded into the inverter as de scribed in this chapter or entered manually using the start up wizard 01 07 ERS 135 210 560V en SCHUNK Start up If different parameters are used or the parameters are calcu lated automatically the drive could suffer irreparable damage e With manual input it is necessary to make sure that only the values from the parameter files specified above are used The following description applies to the drive ES starter version V4 2 0 1 NOTE With the Siemens Sinamics it is possible to change the voltage supply on the encoder interface from 5 V to 24 V using a parame ter e Ensure that the voltage supply on the encoder interface is set to 5 V Establishing v Rea
47. he devices passed the EMC test in accordance with the following standards EMC Generic standard Immunity in industrial environments EMC Generic standard Emission standard for residential and light industrial environments The EMC compliant installation of the product and the use of interfe rence resistant wiring are necessary for trouble free operation Pulsed interference variables The following table shows the electromagnetic compatibility with respect to pulsed interference variables Pulsed interference variable Tested with Corresponds to intensity Electrostatic discharge according to Air discharge 8 kV EN 61000 4 2 2008 Contact discharge 4 kV High energy single pulse surge 500V surge symmetrical EN 61000 4 5 SCHUNK e 500V surge asymmetrical length of lead gt 30 m Burst pulse fast transient Supply line 2 kV 3 interference variables according to On signal data and control line 1kV EN 61000 4 4 2008 01 07 ERS 135 210 560V en Basic safety notes Sinusoidal interference variables The following table shows the electromagnetic compatibility with respect to sinusoidal interference variables Sinusoidal interference variable Test values HF irradiation 80 amplitude modulation at 1kHz to 10 electromagnetic fields V m in the range from 80 1000 MHz to 3 according to EN 61000 4 3 V m in the range from 1 4 2 GHz to 1 V m in the range from 2 2 7 G
48. ine have been compiled Person authorized to compile the technical documentation Robert Leuthner Address see manufacturer s address Signature see original declaration Lauffen Neckar February 2015 Ralf Winkler Business Unit Manager R amp D Mechanical Gripping Systems SCHUNK 0 01 07 ERS 135 210 560V en Translation of original declaration of incorporation 15 1 Annex to Declaration of Incorporation according 2006 42 EG Annex Il No 1B 1 Description of the essential health and safety requirements pursuant to 2006 42 EC Annex that are applicable and that have been fulfilled with Product designation Electric rotary module Type designation ERS ID number 0310146 0310150 0310178 0310180 0310182 0310184 0310210 0310212 0310214 0310216 To be carried out by the system integrator for the complete machine U Fulfilled for the scope of the incomplete machine U Not relevant v Essential Requirements Definitions Principles of safety integration Materials and products Lighting Design of machinery to facilitate its handling x Ergonomics x Operating positions BER Seating HER Normal stop x Operational stop x Emergency stop ix 01 07 ERS 135 210 560V en SCHUNK 07 Translation of original declaration of incorporation Control Systems LIBE Assembly of machinery x Selection of control or operating modes ix Failure of the power sup
49. ion 5120 CU310 DP Leistungsteil Zusatzdaten Antrieb ERS DDS 0 Regelungsstruktur Leistungste Motor Leistungsteil seen M BSL3210 15E14 1Uxx 5204 Kein Filter Drossel Sinusfilter Ausgangsdrossel dU dt Filter mit WPL F Voltage Sensing Module Auswahl der auf das Leistungsteil aufgesetzten Komponente CU310 DP Zur ck Abbrechen Wie 5 Select the control unit SCHUNK 07 01 07 ERS 135 210 560V en Start up Konfiguration 5120_CU310_DP Motor Antrieb ERS DDS D MDS O Regelungsstruktur Leistungsteil Leistungsteil Zusatzdal Konfigurieren Sie den Motor Motorhaltebremse Geber OM Motor Name ERS seid v Motor neu auslesen Standardmotor aus Liste ausw hlen f Motordaten eingeben lt Zur ck Abbrechen Hilfe 6 Enter the motor name e g ERS and select the DRIVE CLiQ in terface 01 07 ERS 135 210 560V en SCHUNK e Start up Konfiguration 5120 CU310 DP Motorhaltebremse Antrieb ERS DDS 0 il Zusatzdal Haltebremse Konfiguration e Motorhalteb vorhanden Enweiterte Bremsensteuerung Typ des Bremsmaduls 0 Bremsenansteuerung mit Diagnoseauswertung z lt Zur ck Abbrechen Hite
50. k b Messtaster SG Optimierung Inbetriebnahme b Easy Startup Modus b Solwertbox b Antriebsintegrierter Sollwertgenerator p Automatische Einstellung der Achsregelu b Frequenzganganalyse 8 3 Lokale 1 0 Achse 2 Default lodus Achse 2 Default Fenster Hilfe Startbild Easy Startup Modus Achse 2 Defaut 9 Achsstatus A0012 Steuer und Leistungsteil betriebsbereit Bedienung Easy Startup Modus ber 170 Kontigutation MO x31 x32 serielle Schnittstelle Antiiebsfreigabe digitale Eing nge positive Drehrichtung Automatische 0 Kontiguration Diener E J Status Stop Easy StartupModus v Easy Startup Modus aktiv Geschwindigkeitsistwert 0732 U min o Freigabe Aktiver Lageistwert 0 0000 Grad Antriebe AU 9 Tippen O Sollwertvorgabe Motorpotentiometer Aktiver Sollwert 0 0000 U min Tippgeschwindigkeit 230 0000 U min o Tippen Tippgeschwindigkeit 30 0000 U min o Tippen 10 Enable the drive ERS this is only possible when the power unit is switched on 01 07 ERS 135 210 560V en SCHUNK e Start up Gefahrbringende Bewegungen WARNUNG Gefahrbringende Bewegungen Lebensgefahr schwere K rperverletzung oder Sachschaden Yor Inbetriebnahme Not Stop Schalter leicht zug nglich in unmittelbarer N he anordnen Die Funktion der Not Aus Einrichtung pr fen Mit OK best tige ich dass ich die unt
51. k on it and wait for at least 15 minutes for dangerous vol tages to disappear capacitor charge Check that the product is deenergized before you start work e Before switching on the product check whether the protective conductor on all electric components has been installed cor rectly and according to the connection diagram e Check whether covers and protective equipment have been at tached to prevent touching live components e Do not touch the connecting elements of the product when the power supply is switched on Magnetic and electromagnetic fields e 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 sys tems are mounted started up and operated e Persons with pace makers metal implants metal shards or hearing aids required the consent of a physician before enter ing areas in which motor parts with permanent magnets are stored repaired or assembled e Do not operate high frequency or radio products in the proxim ity of electric components of the drive system and their feed lines If using such devices is necessary Check the machine or system for possible failures when using such devices at differ ent intervals and in different states of the control system when starting up of the electric drive and control system You may need to carry out an additional specific EMC control if the sys t
52. n E Hundachse Linearachse Virtuelle Multitumauflosung o Toleranzfenster 0 00 pen ht 10 Configuring the mechanism Next without change 01 07 ERS 135 210 560V en SCHUNK e7 SCHUNK er Start up Konfiguration 5120 CU310 DP Prozessdatenaustausch Antrieb Antrieb ERS DDS 0 Wahlen Sie den PROFIdrive T elegrammtyp aus SIT L nge worte Eingangsdaten Istwerte 0 0 Ausgangsdaten 5 ollwerte Hinweise gt 1 Die PROFldrive Prozessdaten werden entsprechend dem gew hlten Telegrammtyp auf BICO Parameter verschaltet Diese BICO Parameter k nnen nicht nachtr glich ver ndert werden 2 Diese Daten betreffen das Interface 1 gemah den Einstellungen an der Regelungsbaugruppe Abbrechen Hilfe 11 Process data exchange drive Next without change Konfiguration 5120 CU310 DP Zusammenfassung Regelungsstruktur Leistungsteil eistunastell Zusatzda Antrieb einf gen Name Control_Unit Antriebsobjekt Typ Servo Amplifier Regelungsstruktur Regelungsart 21 Drehzahlregelung mit Geber Funktionsmodule Einfachpositionierer Leistungsteil Komponenten Name Leistungsteil Komponenten Typ AC Power Module Bestell Nr 6513210 1SE14 1Uxx Bemessungsleistung 1 5 kw Bemessungsstrom 4 1 A Leistungsteil Zusatzdaten Kein Filter Drossel Adapterbaugruppe CU310 DP Motor Mot
53. ne i ANA mI A SIN Ping GND Pin 10 Vcc Pin 12 Connection assignment of the white signal cable for Bosch IndraDrive CS u ae Jasjatmen ema socket Encoder am T Sue pot btoos pne Ti eeta pno ooo 01 07 ERS 135 210 560V en SCHUNK On Assembly Connection assignment of the white signal cable for Siemens Sinamics Pin assignment 15 pin Sub D socket B COS Pin 1 Vcc Pin 2 Z Ref Pin 4 A SIN PAG en Bosnaj i Connection assignment of the power cable for Sinamics connection to converter Power U U2 SCHUNK 07 01 07 ERS 135 210 560V en Assembly 8 3 Optional holding brake Risk of injury due to unexpected movement of the ma chine automated system e The holding brake is not a service brake e The holding brake is not allowed to be used as a safety com ponent e The holding brake only applies rated torque and is used for holding position at standstill Risk of injury when working on the micro valve e Switch off the energy supply e Switch off the compressed air supply shee ens 01 07 ERS 135 210 560V en SCHUNK e7 8 3 1 Assembly Comply with the following procedure when mounting the micro valve e f the micro valve is supplied as a complete component dis mantle the micro valve into its individual components and then install the individual compon
54. nt work Ensure that no residual energy remains in the system e Do not move parts by hand when the energy supply is connected e Do not reach into the open mechanism or the movement area of the unit e Perform maintenance modifications and additions outside the danger zone e During all work secure any product attached to controller against accidental operation e Take particular care during maintenance and disassembly e Only trained staff may perform disassembly work Protection during handling and assembly e There is a risk of injury when handling the product incorrectly Only trained staff may perform maintenance and assembly work For all work secure the product against accidental operation e Observe the relevant accident prevention rules e Use suitable assembly and transport equipment and take pre cautions to prevent jamming and crushing 01 07 ERS 135 210 560V en SCHUNK 07 Basic safety notes Protection against dangerous movements Dangerous movements may be caused by faulty actuation of drives that are connected Dangerous movements may be caused by operating mistakes or faulty parameterization during start up or by software errors e Never rely merely on the response of the monitoring function to avert danger Assume that the drive movement is faulty as long is the installed monitors are not effective since the effect depends on the control and the current operating state of the drive Per fo
55. onfiguration gt bersicht gt Konfiguration gt Topologie reka Control Unit mm Ein Ausgabe Kompanenten FH die STM210 9 3 DCC Plan einf gen X Drive Mavigator gt Konfiguration gt Steuerlogik gt Technologie gt steuerung Regelung gt Funktionen gt Meldungen und berwachungen Inbetriebnahme gt Steuertafel gt Trace gt Funktionsgenerator gt Messfunktion gt Automatische Reglereinstellung gt stehende drehende Messung gt gt Kommunikation H Diagnose FH u p 9H Siemens provides the Automatic controller settings function for the purpose of establishing the control parameters Steuerhoheit holen mm e m 1 Select this function by clicking on the icon shown below SCHUNK e0 01 07 ERS 135 210 560V en Control parameters BB Steuerungshoheit holen r Lebenszeichen berwachung VW aktiv berwachungszeit 1000 ms A Diese Funktion darf nur unter Beachtung der entsprechenden Sicherheitshinweise eingesetzt werden Bei Nichtbeachtung k nnen Personen und Sachsch den die Folge sein Sicherheitshinweise Akzeptieren Abbrechen Hilfe 2 Accept the safety note rer EEE 3 Enable the drive gt The individual steps required for determining the parameters can now be carried out Parameter 1 Ensure that no one is positioned in the danger zone and that determination there is no po
56. or Name ERS Motor Typ Motor mit DRIYE CLi0 Schnittstelle Motorhaltebremse Motorhaltebremse nicht vorhanden Geber Name Geberauswertung 1 ERS Name Geber 1 Geber_1 Gebertyp Geber 1 Geber identifizieren Bestell Nr Geber 1 XSMIxex xxxxx KxRK Ma system Gebersystem f r die Lageregelung Geber 1 Ma einheit LU Expertenmodus Prozessdatenaustausch Antrieb x gt Text in Zwischenablage kopieren Zur ck Abbrechen Hilfe 12 Finish 01 07 ERS 135 210 560V en Start up FF STARTER Inbetriebnahme ERS 5120 CU310 DP ERS Expertenliste B Projekt Bearbeiten Zielsystem Ansicht Extras Fenster Hilfe Dip s x gel e v iz Kell Full 314 nla ta S Bil E H Inbetriebnahme ERS Po Einzelantriebsger t einf gen Expertenliste E fs 5120 CU310 DP gt bersicht s Parameter gt gt Kommunikation NG Alle gt Topologie Antrieb Betriebsanzeige H E Control Unit Ss BOP Betriebsanzeige Auswahl Parar mw Ein fAusgabe Komponenten 95 Antrieb einf gen B ERS 9 DCC Plan einf gen gt Konfiguration Drehzahlsollwert gegl ttet CO Drehzahlistwert gegl ttet Drehzahlistwert 1 min gegl ttet ME Drive Navigator gt Steuerlogik gt Technologie gt Steuerung Regelung gt Funktionen gt Meldungen und Uberwachungen gt gt Inbetriebnahme Kommunika
57. ply u Protection against mechanical hazards u Risk of loss of stability Risk of break up during operation Risks due to falling or ejected objects Risks due to surfaces edges or angles EEE Risks related to combined machinery HER Risks related to variations in operating conditions X Risks related to moving parts ED Choice of protection against risks arising from moving parts Fixed guards Interlocking movable guards Adjustable guards restricting access Special requirements for protective devices E B if E Risks due to other hazards E g Electricity supply E E Static electricity E X E Energy supply other than electricity E Errors of fitting a E EX E i a SCHUNK e0 01 07 ERS 135 210 560V en Translation of original declaration of incorporation Risks due to other hazards Vibrations Radiation External radiation Laser radiation Emissions of hazardous materials and substances Risk of being trapped in a machine Risk of slipping tripping or falling Lightning ef 3 a rx xr ME dx 5 Warning devices Warning of residual risks Marking of machinery Instructions General principles for the drafting of instructions Contents of the instructions Sales literature Supplementary essential health and safety requirements for certain categories of machinery Foodstuffs machinery and machinery for cosmetics or pharmaceutical
58. ply cable Preconditions for installing the connection cables e The cables are without tensile and torsion loads Use cable guide chains e The minimum bending radius 7 5 times the cable diameter is complied with 6 2 Page 29 e The motor s range of rotation and function are not impaired NOTE For more information about the converter parameters refer to the user manual for the converter 01 07 ERS 135 210 560V en SCHUNK 07 Assembly Sensor plug connection assignment Sensor plug Pin Signal Pin Signal iis je ume yo ve Connection pin assignment power plug power plug v fe Temperature sensor pow The ERS is supplied with prefabricated cables in lengths of 5 to 20 m which have to be ordered separately red power cable white sensor cable Y cable 5 Page 19 The ERS must be connected to a converter The cable colors and designations in the following tables apply to the SCHUNK connection cable Observe the cable assignment SCHUNK 0 01 07 ERS 135 210 560V en Assembly Connection assignment of the red power cable Function Signal Cable designation Power U Black A1 U V Black A2 V PE Green Yellow Temperature sensor T1 Red Connection assignment of the white signal cable for Bosch IndraDrive Basic Advanced Pin assignment 15 pin Sub D socket Encoder ATE zeen na tos
59. r Setting up the converter NOTE Select the corresponding interface for start up via Ethernet The procedure is the same 1 Connect the RS232 interface of the computer to the serial in terface of the converter using the serial cable 2 Switch on the converter and power unit E Microsoft Excel Ar Microsoft Word Programmaugriff und standards e Lotus Anwendungen m OpenOffice org 2 4 Ke Dokumente gt Fi PDFCreator D PL 2303 USB Serial Driver Ej PowerCube F Suchen gt AM Tools IM Zubeh r IM STARTER CJ Ausf hren Abdocken 0 gt GI Indraworks Ds 3 Start IndraWorks on the PC SCHUNK 0 01 07 ERS 135 210 560V en Start up Datei Bearbeiten Ansicht Z Projektexplorer Pi IndraWorks Engineering Startbild Projekt Diagnose Extras Fenster Hilfe Startbild ffnen Sie ein vorhandenes Projektod Neues Projekt if Leeres Projekt erzeugen Ty Ger te suchen Zuletzt ge ffnete Projekte 4 Search for a new device Nach Ger ten suchen Auswahl der Ger te Installiert In Klammern steht die Art und Weise wie das Ger t gesucht wird Suche nach EcoDrive Cs Seriell R5232 IndraDrive Ethernet IndraDrive Profibus IndraDrive Seriell AS485 Sercans Seriell R5232 Sercans Il PCI Sercans Seriell R5232 Sercans Ill PCI Sercans Ill Seriell
60. ransport air humidity relative humidity of 5 95 non condensing During transport and handling make sure that none of the components are bent or insulation space is changed The ERS contains components that are sensitive to electrostatic charge Avoid any electrostatic charging of the ERS 13 2 Packaging Cardboard packaging with paper foaming The maximum stacking height is three modules 01 07 ERS 135 210 560V en SCHUNK Transport storage and disposal 13 3 Storage e Protect the product against the effects of humidity e The storage temperature should be between 5 C and 60 C e The storage location must be clean dry and well ventilated e No outdoor storage permitted e No condensation permitted e Comply with climatic category 1K4 in accordance with EN50178 e Observe the maximum stacking height of three packaged mod ules 13 4 Disposal e Observe the locally valid legal disposal regulations e Environmentally sound disposal via the corresponding recycling or workshop centers e SCHUNK GmbH amp Co KG accepts no liability for the conse quences of incorrect disposal by the customer SCHUNK 07 01 07 ERS 135 210 560V en Assembly drawings 14 Assembly drawings 14 1 ERS 135 on A Ola A A ER 2 lo a 063 874 S80 113 73 _48 54 0 02
61. re Gebertyp Auswahl 26 50000 42 68000 9999 Benutzerdefiniert Getriebetyp Ausw 9999 Getriebe benutzerdefiniert SER Blasen E EJ w Geberkonfiguratio Rotatorischer Geb 101010H 160 Geber Invertierung 3H 160 E TA ele inns n TA CM YA tawah kh arkrinih CI vmm rn Aeff KA Nm amp 5 a Ei Werteliste in Skript konvertieren Alle 5522559 ERS135 CU310 320 FW4ERS Alle Parameter Ng Alle hd Ea 2 Motortyp Auswahl 2 Synchronmotor rotatorisch pe 2 Synchronmotor rotatorisch pe 1 10 1 10 Aett Motor Anzahl para 1 1 Motor Bemessung 0 74 0 74 KA 1000 0 1000 0 1imin 12 30 2 30 Nm 15 15 2 10 2 10 Nmi amp 0 73 0 73 Aeff 1 50 1 50 Nm 2360 0 2360 0 1min 3 80 3 80 Aeff Mator Pollageidenti 0 50 0 50 Aeff Motor Grenzstrom 380 3 80 Aeff 3 Berechnung Regelungsparame 3 Berechnung Regelungsparameter 0 001400 0 001400 kgm id 26 50000 26 50000 Ohm 42 68000 42 68000 mH Gebertyp Auswahl 9999 Benutzerdefiniert 9999 Benutzerdefiniert Getriebetyp Ausw 9999 Getriebe benutzerdetiniert 9999 Getriebe benutzerdefinier
62. rm maintenance modification and attachment work outside of the danger zone defined by the movement range e To avoid accidents and or material damage access to the movement area of the machine must be restricted Restrict ac cidental access of persons in this area e g by providing a pro tection cover a protective fence or a photoelectric barrier The protection cover and the protective fence must have sufficient stiffness to withstand the maximum possible movement ener gy EMERGENCY STOP switches must be easily accessible Be fore starting up the machine or system check that the EMER GENCY STOP system is working Prevent operation of the ma chine if this protective equipment does not function Electric components e Work on the electrical installations shall only be performed by electricians or instructed personnel under the guidance and su pervision of an electrician and in accordance with the electrical standards e Observe the general set up and safety rules applicable when performing work on power plants e Lay electric lines according to the rules of the profession e g in a cable duct or a cable bridge Observe cable laying standards e Before connecting or disconnecting electric cables switch off the power supply and check that lines are dead Secure power supply against reactivation SCHUNK 0 01 07 ERS 135 210 560V en Basic safety notes e Disconnect the product from the mains prior t0o commencing wor
63. se minor injuries NOTICE Material damage Information about avoiding material damage Warning about dangerous electrical voltage Warning about hot surfaces SCHUNK e0 01 07 ERS 135 210 560V en About this manual 1 2 Applicable documents e General terms of business e Catalog data sheet of the purchased product e Assembly and Operating manuals of the accessories e SCHUNK CD with Parameterfiles for controller Bosch Rexroth IndraDrive C CS Parameterfiles for controller Siemens Sinamic S 120 CU310 DP and S 120 CU320 DP The documents listed here can be downloaded on our homepage www schunk com 01 07 ERS 135 210 560V en SCHUNK Basic safety notes 2 Basic safety notes 2 1 Intended use The product was designed to rotate loads workpieces and objects The poduct may only be operated in combination with a controller The product is intended for installation in a machine system The requirements of the applicable guidelines must be observed and complied with The product may be used only in the context of its defined applica tion parameters 6 Page 20 The product is designed for industrial use To use this unit as intended it is also essential to observe the technical data and installation and operation notes in this manual and to comply with the maintenance intervals 2 2 Not intended use Use which is not specified as an intended
64. sicht Extras Fenster Hilfe Neu Strg h Neu mit Assistent ffnen Strg O Schlie en Speichern Strg 5 Speichern unter Altes Projektformat bk Konvertieren alter Starterprojekte Konsistenz pr fen Strg lt K Speichern und nderungen bersetzen Strg Alt B Speichern und alles neu bersetzen Laden ins zielsystem Eigenschaften Know how Schutz L schen Mit ausgew hlten Zielger ten verbinden Yom zielsystem trennen Erreichbare Teilnehmer IP Adressen PG PC Schnittstelle PG PC Schnittstelle einstellen 01 07 ERS 135 210 560V en SCHUNK Start up ipd Ber ac AD ta or e c e e 7777 Ademe 2 Keine Typito verf gbar L1 ader 4 Typ SINAMICS 120 CUSI0 DP V2 6 21 ar Emahene Einteungen Dorgort STONUNE STEP 7 Verwendete Schn tinelenparametienung PC Adapted PROFIBUS lPAdesse des gesuchten T edveteners seite o Wen Se de seeker Aninetegerdte ine Pi iberehmen Starter Projektassistent i x 3 4 2 PG PC Antriebs Zusammen Schnittstelle ger te fassung einstellen einf gen i Neues Projekt erstellen Einf hrung Es wurden folgende Einstellungen gew hlt Projektname Inbetriebnahme_ERS Speicherort C 4Programme45IEMEN515tep74s7pro Schnittstelle PC Adapter PROFIBUS Antriebsgerate 5120 CU310 DP SINAMICS 5120 CU310 DP Adr 0 i lt Zur ck Ferigsteten Abbrechen
65. t Geberkonfiguratio 101010H 101010H Rotatorischer Geb 160 160 Geber Invertierung 3H 3H gt c n E 160 160 Ces AGA tarah harkeiah Arn Asan Werteliste in Skript konvertieren Schlie en Hilfe 17 Overview of user defined value list Continue with Close 1 07 ERS 135 210 560V en Start up FR STARTER Inbetriebnahme_ERS_0 5120_CU310_DP ERS Konfiguration Projekt Bearbeiten Zielsystem Ansicht Extras Fenster Hilfe ct ef ep epe pep MEI XD Sa otf 9r luin ns 9 e el lt 3 89 Inbetriebnahme_ERS_D fa Datensatzumschaltung Antriebsdatensatz DDS 0 gt Einzelantriebsger t einf gen Seti a fl 5120 cusio DP gt bersicht 5 m ie i s s Befehlsdatensatz CDS 0 CDS hinzuf gen COS en Konfiguration Antiebsdatens tze Befehlsdstens amp tze Einheiten Bezugsgr en Einstelung Spertiste Einstellung gt Kommunikation gt Topologie E Control unit Name ERS Anttiebsobiekte Typ 11 SERVO 4 Ein JAusgabe Komponenten Mon Mn La Lang 9 3 Antrieb einf gen AntriebsobjektNr 2 Regelungsatt 21 Drehzahiregela E fj ERS s Pe EE eN E acini DRIVE CLIO PROFIdiive Telegramm 899 Freie Telegran gt Konfiguration a z gt Expertenliste ERS Leistungsteil Leistungsteil ERS Geber 1 Geber 1 HE Drive Navigator Komponentennummer 2 gt
66. tential for material damage een OO 2 Click the button Automatische Reglereinstellung A Vorsicht beim Benutzen der Messfunktion Beim Durchf hren der Messung f hrt der Antrieb entsprechend der Parametrierung der Messfunktion z B Offset Amplitude Messzeit eine Bewegung aus Bitte stellen Sie sicher dass sich keine Personen im Gefahrenbereich aufhalten und durch diese Bewegung keine Besch digung der Anlage oder Maschine z B durch mechanische Endlage auftreten kann Wollen Sie fortfahren 3 Acknowledge the warning 01 07 ERS 135 210 560V en SCHUNK 6 Control parameters gt The control parameters are now determined automatically In the first two steps the mechanism is measured in the up per and lower frequency ranges Automatische Reglereinstellung AN Vorsicht beim Benutzen der Messfunktion F r diese Messung wird der Antrieb stromgeregelt betrieben Beim Durchf hren der Messung f hrt der Antrieb entsprechend der Parametrierung der Messfunktion z B Offset Amplitude Messzeit bei nicht festgebremsten Achsen eine Bewegung aus Bitte stellen Sie sicher dass sich keine Personen im Gefahrenbereich aufhalten und durch diese Bewegung keine Besch digung der Anlage oder Maschine z B durch mechanische Endlage auftreten kann Sorgen Sie daf r dass h ngende Achsen festgebremst sind Falls eine Motorhaltebremse am Antrieb angeschlossen ist wird diese au
67. ter amp Optimierung Inbetriebnahme gt Easy Startup Modus b Sollwertbox b Antiebsintegrierter Sollwertgenerator b Automatische Einstellung der Achsregelul b Frequenzganganalyse S Lokale O chse 2 Default Ansicht Projekt Diagnose Extras Fenster Hilfe Starbid Easy Startup Modus Achse 2 Defauk Achse 2 Default 2 5 49 Achsstatus ao009 Automatische Baudratenerkennung bei SERCOS interface Bedienung Easy Startup Modus iber 1 0 Konfiguration VO x31x32 serielle Schnittstelle Antriebstreigabe O digitale Eing nge positive Drehrichtung Automatische 0 Konfiguration negative Drehrichtung Status C Easy Startup Modus aktiv Geschwindigkeits Istwert 0 0000 U min o Freigal AktiverLageistwet 04095 Grad o Tippen O Sollwertvorgabe Motorpotentiometer Aktiver Solwert 0 0000 U min Tippgeschwindigkeit 230 000 U min o Tippgeschwindigkeit 30 0000 U min e 9 Open and start the Easy Start Up mode Pl IndraWorks Engineering Fasy Startu Datei arbeite Ansicht Projekt Indradrive Diagnose Extras S Bl IndraWorksProject_001 Bo Indradrive 2 Default b Leistungsversorgung Goo Achse 2 Default F hrungskommurikation Motor Bremse Messsysteme Wichtung Mechanik amp O Grenzwerte a Antriebsregelung Betriebsarten Antrieb Halt Fehlerreaktion w O Antriebsintegrierte Sicherheitstechni
68. tion gt Diagnose 1 Dokumentation a BIBLIOTHEKEN SINAMICS H E BEOBACHTEN Stromistwert momentenbildend gegl t Drehmomentistwert gegl ttet CO Wirkleistungsistwert gegl ttet 2 E si 13 Open the expert list Ji Ze Bigla tel Expertenliste le Parameter 7 EET z SES EE EE 14 Select Open user defined value list ERS135 15 Load the parameter file e g ERS135 from the relevant drive 01 07 ERS 135 210 560V en SCHUNK e7 SCHUNK 27 Start up Dokumente und Einstellungen schunk DesktopsParameter ERS 2013 05 23 Siemens CU310 32015 r Ergebnis Parameter Date Parametertext NG Alle a v ate 7 5522559 ERS135 CU310 320 FW4ERS Aie Slate 2 mate m Motortyp Auswahl Motor Bemessung Motor Anzahl para 2 Synchronmotor rotatorisch pe 1410 1 Motor Bemessung 0 74 Motor Bemessung Motor Bemessung Motor Polpaarzahl 1000 0 230 15 Motor Drehmomen 2 10 Motor Stillstandsst 0 73 Motor Stillstandsdr 1 50 Motor Maximaldre Motor Maximalstrom 2360 0 3 80 Motor Pollageidenti 0 50 Motor Grenzstrom 3 60 Automatische Ber 3 Berechnung Regelungsparame Motor Tr gheitsmo 0 001400 Motor St nderwvid Motor Standerst
69. tionsmodule O Motorhaltebremse Geber Erweiterter Sollwertkanal ae Prozessdatenaustausc Zusammenfassung a Ba m j wi r Regelung Sollwert n M Regelung 4 m gt Regelungsart 21 Drehzahlregelung mit Geber m Drehzahlistwertaufbereitung lt Zur ck Abbrechen Hilfe Select the control mode simple positioner and speed control with encoder 01 07 ERS 135 210 560V en Start up v Regelungsstruktur Motor Motorhaltebremse eber Konfiguration 5120 CU310 DP Leistungsteil Antrieb ERS DDS 0 Konfigurieren Sie die Leistungsteil Komponente Komponenten Name Anschlussspannung Entw rmungsart Bauart ncxouv SSC ae Auswahl Leistungsteil Bestell Bemessu Bemessu Ausf hru 2 6S5L3210 15E11 3Uxx 0 37 Kw 1 34 C 6513210 15E11 7Uxx 0155 kw 17A C 6513210 15E12 2lxx 0 75 kw 224 C BSL3210 1 SE 13 1U sx C 1 1 kw 3 14 5 0 15E14 1Uxx DIEM 59A ACA 65L3210 15E16 OAx C 6513210 15E16 0llxx 2 2 kw 5 94 AC AC BSL3210 1SE17 7Axx 3 kW TTA AC AC 6513210 15E17 7Uxx 3kw TTA AC AC BSL3210dSE21 0 x 4 kw 10 24 AC AC 65L3210 15E21 OUxx of lt Zur ck Abbrechen Wie 4 Select the power unit 01 07 ERS 135 210 560V en SCHUNK e Start up Konfigurat
70. tomatisch angesteuert Ansonsten sorgen Sie bitte bei bei h ngenden Achsen durch zus tzliche Ma nahmen f r eine mechanische Blockierung Wollen Sie fortfahren Ca 4 Acknowledge the warning with yes qe Fer NGIPASS Pie Lt i 1999 000 Hz 0 700 i 1999 000 Hz 0 700 es Filter Tiefpass PT2 1 1999 000 Hz 0 700 1999 000 Hz 0 700 PT2 1 Tiefpass PT2 1 JEN Optimierte Einstellungen 0 700 in Antrieh bernehmen 1 1999 000 Hz 0 700 Adapter PROFIBUS Online Modus NUM 5 Click on Accept SCHUNK 0 01 07 ERS 135 210 560V en Control parameters Drehzahlreglereinstellungen in STM210 bernehmen ITRC 26801 Sollen die ermittelten Reglereinstellungen in den Antrieb bernommen werden Die Reglereinstellungen wurden f r folgende Antriebskonfiguration ermittelt DDS OMDS 0EDS 0 Bitte beachten Sie dass nach der bernahme die Einstellungen noch nicht ausfallsicher auf der CF Karte des Antriebsgerates oder im PG gespeichert sind Bei Bedarf f hren Sie dazu bitte noch folgende Aktionen durch 1 Steuerhoheit abgeben 2 RAM nach ROM kopieren 3 Laden in PG 4 Projekt speichern Nein Wie 6 Click button yes to acknowledge the acceptance c the new parameters can be transmitted to the controller The motor can now be operated with th
71. ubrication intervals Risk of fatal injuries due to electric shock Ifthe electrical connections are released from the live module arcing may be the result e Switch off the energy supply e Only have work on the module performed by appropriately trained specialist personnel At ambient temperature above 60 C the lubricants can harden faster e Interval decrease accordingly Maintenance intervals Recommendation Maintenance and seal replacement should be done by SCHUNK because the rotor must be aligned and assembled with an assem bly device Interval Mio cycles Bearing 20 000 lubrication h Visual inspection h 2 500 This information refers to use under normal operating and am bient conditions e Clean workshop atmosphere e No splashing water e Small amounts of abrasive and process dust 01 07 ERS 135 210 560V en SCHUNK 6 Maintenance and care 12 2 Module Servicing For maintenance work or repairs send the complete module along with a repair order to SCHUNK Visual inspection The regular visual inspection of all supply lines is the prerequisite for the perfect operation of the ERS 1 If supply lines are defective put the machine out of operation immediately 2 Replace damaged connection cables 3 ACheck the ERS every 2500 operating hours or once a year for bearing noise Acoustic bearing Bearing noise Further procedure IPSPERHON Smooth noise typical
72. use is for instance when the product is for example used as a pressing tool stamping tool lifting tool guide for tools cutting tool tensioning mean boring tool 2 3 General safety notes e Observe these safety notes and supplementary instructions for use prior to starting work with the product e Carefully read through all the documents supplied before start ing up or using the product e Please refer to the documentation for the connecting and instal ling conditions and the technical data and restrictions and ob serve these at all times Every person called upon by the operator to work on the product must have read and understood the com plete assembly and operating manual This applies in particular to occasional personnel such as maintenance personnel e The product may pose a danger for instance in the following situations When the product is not used in accordance with its appro priate use When the product is not installed or maintained properly When the safety notes or assembly instructions are not ob served SCHUNK e7 01 07 ERS 135 210 560VJen Basic safety notes Avoid any manner of working that may interfere with the func tioning and operational safety of the product Do not start up a damaged or faulty product Only use spare parts and accessories that have been autho rized by SCHUNK Leave the hardware components in their original state and do not manipulate them or the software
73. y range 5 500 Hz Deflection 10 mm 5 500 Hz Vibration acceleration 30 m s Shock EN 60068 2 27 Shock form Half sine Version 2008 peakacceleration 250 m s Number of shocks per 50 per axis direction Number ofaes 2 5 Personnel qualification e Only qualified personnel may operate the product or work in its vicinity e Personnel must be familiar with the required safety equipment know how to use it and be trained in First Aid e Work on the electrical installations shall only be performed by electricians or instructed personnel under the guidance and su pervision of an electrician and in accordance with the electrical standards e Observe the national accident prevention regulations and the general safety notes 2 6 The use of personal protective equipment When installing or removing the product observe the relevant health and safety at work rules and use the required personal protective equipment protective gloves safety boots and safety goggles SCHUNK 0 01 07 ERS 135 210 560V en Basic safety notes 2 7 Notes on particular risks General information e Observe safe distances e Observe the minimum safety requirements for the use of equipment e Never take maintenance product out of operation e Install the provided protective product in the danger zone be fore switching the product on e Remove the energy supplies before installation modification maintenance or adjustme

ERS 560V

Contents

Download Pdf Manuals

Related Search

Related Contents