APS-M1 - SELLTECH
Contents
1. 5 1 Accessories Sensor System Analog Position Sensor System Mechanical analog system comprising sensor and processor for accurately recording the position of gripper jaws The high resolution 5 15 sensor is actuated by an inclined surface mounting kit which is attached to the gripper base jaw The changes in position of the sensor are recorded amplified prepared and made available to an analog output by the APS MTE processor Your advantages and benefits Position output as voltage V or current mA Precise measuring system also for long strokes Compact design for space saving installation in any control cabinet Conforms to CE for absolute safety and long life during permanent operation 1014 www schunk com SCHUNK 5 1 Accessories Sensor System Application example Area of application for the precise measurement of the gripper jaw position in clean environments 4 APS MI1E Processor APS M1S Sensor e APS K7 Extension Cable o PZN plus 100 3 Finger Centric Gripper General information Notes Warranty The accuracy of the complete system as stated here is available from a stroke per 24 months jaw of 7 mm The entire range of the sensor cannot be exploited with smaller Ordering strokes The relative accuracy ratio of repeat accuracy to jaw stroke decreases the The sensor and processor must be ordered as individual items absolute repeat accuracy in mm is the s2. of a jaw stroke However in some grippers a resolution of only 10 is achieved due to the nature of the design More precise resolutions may be reached however with the use of special solutions Please contact us regarding the resolution accuracy of the FPS system Connector for the electronic processor enclosed 12 pin circular connector Binder type series 723 waterproof suitable for connection cables with a diameter of 6 to 8 mm recommended conductor cross section 0 14 mm max 0 25 mm Ambient conditions Use within the range of strong magnetic fields is not recommended Neither the FPS sensor nor the FPS magnet may come into contact with ferromagnetic dust chips or other substances Display Five colored LEDs Range of measurement 5 to 30 mm with SCHUNK magnet NdFeB magnet cut to size dimensions 6 x 25 mm x L with various lengths L depending on the part of the range of measurement Material Processor Plastic PA 6 Cable PU resistant to coolants lubricants Warranty 24 months Area of application dirty but are free from steel chips Position sensing of gripper jaws up to a stroke of approx 30 mm in environments that may be dean or All data were determined on the basis of SCHUNK attachments and specifications Please consult us regarding use of the sensor with modules from other manufacturers SCHUNK Sj www schunk com 1019 Accessories Sensor System Either the FPS S13 or
3. 41 1640 02 16 0 02 Gripper connection 1 Gripper connection 2 Finger connection 2 Finger connection aD Cable outlet FMS ZBA 100 FMS ZBP 100 Q10 2x 4 910 2x 20 0 02 Gripper connection 1 Gripper connection 2 Finger connection 2 Finger connection aD Cable outlet 1032 www schunk com SCHUNK FMS ZBA ZBP FMS ZBA 125 FMS ZBP 125 2420 02 _24 0 02 Gripper connection Gripper connection 2 Finger connection 2 Finger connection 62 Cable outlet FMS ZBA 160 FMS ZBP 160 70 M10 2x 32 0 02 32 0 02 oa 1 Gripper connection 1 Gripper connection 2 Finger connection 2 Finger connection aD Cable outlet SCHUNK S www schunk com 1033 FMS ZBA ZBP FMS ZBA 200 FMS ZBP 200 85 _ 13 2x M12 2x 40 0 02 400 02 1 Gripper connection 1 Gripper connection 2 Finger connection 2 Finger connection 42 Cable outlet 42 Cable outlet FMS ZBA 240 FMS ZBP 240 Hue M12 2x _ 44 0 02 44 0 02 Gripper connection 1 Gripper connection 2 Finger connection 2 Finger co
4. 8 0 30 0 0 0045 67 63 0 SCHUNK Sj FMS A Accessories Sensor System Main views FMS AK connection cable The FMS AK connection cable is used for connecting the electronic processor to 0 control cabinet or an PLC A cable bushing is fitted on the side of the electronic processor the other side is open Description ID Length FMS AK 5 0301821 50m FMS 10 0301822 10 0 m FMS AK 20 0301823 20 0 m SCHUNK 55 www schunk com 1029 FMS ZBA ZBP Accessories Sensor System Description FMS ZBA 50 FMS ZBP 50 FMS ZBA 64 FMS ZBP 64 FMS ZBA 80 FMS ZBP 80 FMS ZBA 100 FMS ZBP 100 FMS ZBA 125 FMS ZBP 125 FMS ZBA 160 FMS ZBP 160 FMS ZBA 200 FMS ZBP 200 FMS ZBA 240 FMS ZBP 240 FMS ZBA 300 FMS ZBP 300 FMS ZBA 380 FMS ZBP 380 1030 ID 0301830 0301831 0301832 0301833 0301834 0301835 0301836 0301837 0301838 0301839 0301840 0301841 0301842 0301843 0301844 0301845 0301846 0301847 0301848 0301849 Start of range of measurement N 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 The force measuring jaw is situated between the gripper base jaw and the top jaw The gripping force is conducted through it Active intermediate jaws measure these forces and transfer the measured value to the electronic processor Active intermediate jaws are equipped with a 30 cm cable and a cable connector Passive intermediate jaws act solely as a bridge for the forces End of range of measur
5. ace remote maintenance measuring functionality system calibration to the millimeter temperature and vol 1006 monitoring FPS A5 0301802 24 0 10 0 30 0 0 01 0 06 25 0 0 0 05 www schunk com FPS F5 0301805 140 10 0 30 0 0 01 0 06 25 0 70 0 65 FPS F5T processor Measurement of the gripper stroke using sensors compa rison with target value output of tolerance information Within tolerance Above tolerance or Below toleran ce plus Open and Closed Otherwise like the FPS F5 FPS F5 T 0301807 240 10 0 30 0 0 01 0 06 25 0 0 0 05 SCHUNK FPS A Main views Transparent plastic cover over control and display panel Connector on sensor side Connector on control cabinet side Wiring diagram Cable extension open wires From the electronic processor to the control cabinet Description ID Length KV 10 0301801 10 0 m FPS S 13 FPS S M8 SPC PLC Machine panel provided by customer For the contact assignment of the connections on the PLC side please refer to the User s manual SCHUNK www schunk com 1023 FPS Software Accessories Sensor System Software for FPS F5 F5 T The free FPS Controller software allows the user to monitor the FPS processor via an RS 232 interface As a result the FPS system can be calibrated to stroke measurement the position can be read out and the FPS processor ca
6. ame as for a gripper with a 7 mm stroke i e 0 02 mm SCHUNK S www schunk com 1015 5 1 Accessories Sensor System Wiring diagram APS M1S Sensor APS MTE Electronic Processor 2 Automation device e g 57 300 When using an APS system a mounting kit APS sensor APS M1S and processor APS MTE are required for each gripper The mounting kits can be found with the grippers Mounting kits for other components grippers are available on request The sensor has a 3 m molded cable Technical data Description APS MIS ID 0302062 Measuring stroke mm 2 0 Measuring accuracy mm 0 004 Nominal current input A 0 023 Tightness 57 Thermal drift of zero signal 10 1 0K 0 1 Thermal drift of amplification factor 10K 0 2 Min ambient temperature C 10 0 Max ambient temperature C 60 0 Weight kg 0 16 Sensor material Steel Cable sheath PUR Description APS M1E ID 0302064 Supply voltage DC Nominal voltage V 24 0 Min voltage V 22 0 Max voltage V 26 0 Nominal current A 0 1 IP rating 20 Min ambient temperature C 0 0 Max ambient temperature C 60 0 Repeat accuracy sensor and processor mm 0 3 Weight kg 0 16 Housing material PA Output signal 0 10 V DC 4 20 mA Mounting top hat rail 1016 www schunk com SCHUNK APS processor Groove for mounting rail APS K extension cable As an option an extension cable can be connected between the sensor and the processo
7. e sensor This variable is recorded evaluated and output by the FPS electronic processor 1018 www schunk com Your advantages and benefits Simplest operation with just two buttons or with the machine control system using free control lines Simple start up as the customer can set all positions during the teaching operation Five digital outputs for greater economy as compared to individual sensors Small distance between two switching points adjustable Resistant to contamination through non ferromagnetic materials Function and switching status display via LEDs on the electronic processor Conforms to CE for safety and long lite during permanent operation Digital technology for resistance to interference Additional advantages of the FPS F5 and F5 T Measuring functionality Communication and remote maintenance via RS 232 protocol Position programming and readout of switching points Monitoring of temperature and input voltage Visualization via PC possible Data logging Calibration of system to gripper stroke Intelligent access authorization Adaptation to new product during the process SCHUNK Accessories Sensor System Application example General information Resolution The resolution is the minimum stroke difference that is required in order to reliably distinguish between two signals Used in conjunction with most SCHUNK grippers the FPS system achieves a resolution of 1 3
8. ement End of overload range N N 145 0 290 0 260 0 520 0 430 0 860 0 685 0 1370 0 1120 0 2240 0 1600 0 3200 0 2325 0 4650 0 3700 0 7400 0 5150 0 10300 0 7100 0 14200 0 www schunk com Definitions The range of measurement is the range in which the Weight kg 0 03 0 02 0 04 0 025 0 056 0 035 0 082 0 055 0 128 0 105 0 24 0 185 0 403 0 34 0 69 0 59 0 907 0 78 1 84 1 6 overall system has an accuracy of lt 3 The overload range is the range in which the overall system has an accuracy of gt 3 At the end of the overload range there is a risk of mechanical destruction of the intermediate jaw Min ambient temperature ambient temperature C 10 0 70 0 10 0 70 0 10 0 0 0 10 0 0 0 10 0 70 0 10 0 70 0 10 0 70 0 10 0 70 0 10 0 0 0 10 0 70 0 SCHUNK FMS ZBA ZBP FMS ZBA 50 FMS ZBP 50 12 0 02 Gripper connection Gripper connection 2 Finger connection 2 Finger connection aD Cable outlet FMS ZBA 64 FMS ZBP 64 26 2x 1 1320 02 1 Gripper connection 1 Gripper connection 2 Finger connection 2 Finger connection aD Cable outlet SCHUNK S www schunk com 1031 FMS ZBA ZBP FMS ZBA 80 FMS ZBP 80 38 5 2x lose 36 wT CN 28 2
9. gripper and the robot Static grip force monitoring Monitoring the grip force as the jaws close prevents the workpiece from being dropped when movement initiates Overload protection by monitoring the max permitted force which can be triggered e g by an inadvertent increase in pressure by off center gripping or the incorrect positioning of the workpiece Preventive maintenance by replacing grippers in good time when there is a decline in the gripping force This avoids unexpected manufacturing down times Dynamic grip force monitoring The effect of acceleration forces on the gripper jaws can be recorded and the motion sequence modified if necessary Component monitoring during highly dynamic movements Measuring and teaching processes Dimensional checking of the gripped component on the basis of an inserted reference component If the component to be measured differs by more than 0 05 mm from the reference component teaching can take place If the ditference is smaller the precise dimensions can be measured accurately even to within 0 002 mm Gauging the weight of the component by measuring the force due to weight of the component on the gripper fingers The FMS force measuring system allows you to measure forces that act on the base jaw in the direction of the jaw movement Up to three active equipped with sensors FMS ZBA intermediate jaws are required for this purpose depending on the application T
10. he remaining base jaws are equipped with FMS 7BP passive intermediate jaws without sensors Each FMS ZBA active intermediate jaw requires an FMS AT electronic processor for evaluation and an FMS AK connection cable for connecting the electronic processor to an PLC or a control cabinet 1027 Accessories Sensor System Description Measuring accuracy Output signal Type of voltage Nominal voltage Min voltage Max voltage Nominal current IP rating Weight ID A kg Each FMS ZBA active intermediate jaw requires an electronic processor The FMS A1 processor is required for intermediate jaw sizes up to 125 the FMS A2 processor from size 160 The electronic processor is used to prepare display and forward the measurement results It is equipped with a housing connector and socket for connecting the force measuring jaw and the connection cable FMS Al 0301810 3 0 VDC 5VDC DC 240 18 0 30 0 0 0045 07 03 0 The output voltage is linear to the forces occurring at the gripper fingers The bandwidth of the output signal is not fully exploited by every active intermediate jaw Zero balancing must be performed prior to measurement The limit dass A according to EN 61326 is complied with The test to EN 61000 4 2 EN 61000 4 3 EN 61000 4 4 and EN 61000 4 6 was passed in conformity with EN 61326 1028 www schunk com FMS A2 0301811 3 0 WDC 5VDC DC 24 0 1
11. n be programmed The FPS software also provides access to all auxiliary functions see above Description Software ID CD 0301806 Download www schunk com Operating system MS Windows 1024 www schunk com SCHUNK FPS Software Accessories Sensor System Screenshot software E fps controller Fla Operation condition E B 3 1 2 E ub Set up with laptop Possible connection methods PC with software analog ISDN FPS Controller Telephone socket SPC Modem analog ISDN PC with software FPS Controller SCHUNK 55 www schunk com 1025 Accessories Sensor System Force Measuring System The FMS force measuring system is used for measuring the gripping forces during the gripping process This opens up numerous new possibilities both during start up and in the production process The FMS intermediate jaws are screwed on between the gripper base jaw and the top jaw which comes in contact with the workpiece Gripping forces on the top jaw result in a flow of force through the FMS intermediate jaw Intelligently arranged strain gauges inside the intermediate jaw react to the resulting deformation The FMS processor detects the change in the strain gauges and emits an analog signal indicating the force 1026 www schunk com Your advantages and benefits Simplest handling via a c
12. nnection aD Cable outlet 1034 www schunk com SCHUNK FMS ZBA ZBP FMS ZBA 300 FMS ZBP 300 105 _ 46 0 02 Gripper connection Gripper connection 2 Finger connection 2 Finger connection 62 Cable outlet FMS ZBA 380 FMS ZBP 380 Gripper connection 1 Gripper connection 2 Finger connection 2 Finger connection aD Cable outlet SCHUNK S www schunk com 1035
13. ontrol line that is directly connected to an SPC Easy to perform measurement of the actual active gripping force Result output via analog voltage value Simple linear relationship between output voltage and gripping force Simple zero balancing with button or via control line Integrated LCD for visual monitoring Easy assembly Dirt proof and waterproof also for use in extreme ambient conditions SCHUNK Accessories Sensor System Application example PGN plus 100 AS 2 Finger Parallel Gripper o Electronic Processor FMS ZBA Intermediate Jaw with Sensor active FMS ZBP Intermediate Jaw Without Sensor passive General information For all PGN plus and PZN plus grippers as well as for all grippers with identical finger connection diagram for other grippers on request remember to ask about the delivery time Conforms to CE for absolute safety and long life during permanent operation Warranty 24 months SCHUNK Sj o Workpiece specific Gripper Finger www schunk com Area of application Gripping force control By sending control signals to the proportional valve that supplies the gripper the PLC can influence the automatically measured gripping force Teaching robots When gripping firmly fixed workpieces the teaching of robots is simple and precise Symmetrical gripping only takes place if the left and righthand gripper jaws apply the same force thereby protecting the
14. r The max cable length between the sensor and the processor is 10 m between the processor and its controller SPC max 1 m Description ID Length APS K2 0302066 2 0 m APS K7 0302068 10m www s SCHUNK S Accessories Sensor System APS sensor Position with retracted feeler rod Carbide ball 1 8 2 Initial stroke Range of measurement Free stroke Mounting kits The suitable mounting kit is specified with the gripper ID Description 0302075 AS APS M1 64 1 0302076 AS APS M1 64 2 0302077 AS APS M1 80 1 0302078 AS APS M1 80 2 0302079 AS APS M1 100 1 0302080 AS APS M1 100 2 0302081 AS APS M1 125 1 0302082 AS APS M1 125 2 0302083 AS APS M1 160 1 and 240 2 0302084 AS APS M1 160 2 0302085 AS APS M1 200 1 and 380 2 0302086 AS APS M1 200 2 0302087 AS APS M1 240 1 0302088 AS APS M1 300 1 0302089 AS APS M1 300 2 0302090 AS APS M1 380 1 chunk com APS MT 1017 Accessories Sensor System FPS Flexible Position Sensor The optional FPS sensor system measures the position of gripper jaws It then indicates in which of the five freely teachable zones the jaws currently are Alternatively the jaw position can be read out via the FPS Controller software FPS F5 FST only A permanent magnet that moves with the base jaw provides the FPS sensor with its magnetic field The strength of this permeation changes depends on the distance of the magnet from th
15. the FPS SM8 sensor is required depending on the type of gripper Each sensor is connec ted to its own FPS A5 F5 F5T processor Description FPS S 13 FPS S M8 ID 0301705 0301704 Cable diameter mm 3 5 25 Cable length cm 30 0 30 0 Connection of FPS on processor side M8 M8 Weight kg 0 01 0 015 Min ambient temperature C 25 0 25 0 Max ambient temperature C 70 0 70 0 IP rating sensor 65 65 IP rating connector plugged in 65 65 Min bending radius dynamic mm 17 5 11 5 Min bending radius static mm 35 0 35 0 1020 www schunk com SCHUNK Accessories Sensor System 72 Active sensor surface Cable extensions Max extension between FPS sensor and electronic processor for trouble free operation 1 m Description ID Length KV 05 0301598 0 5m KV 0301599 1 0m 13 sensor Through bore 722 Active sensor surface SCHUNK S www schunk com 1021 Accessories Sensor System Description Nominal voltage Min voltage DC Max voltage DC Nominal current DC Weight Min ambient temperature Max ambient temperature IP rating 1022 FPS A5 FPS F5 Processor Measurement of the gripper stroke using sensors assign ment to the positions zones Open Intermediate position 1 2 3 or Closed and output of a position sig nal A maximum of four switching points five zones are freely programmable FPS F5 additionally with RS 232 interf
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