Translation of the original manual
Assembly- and Operating Manual
PG-plus 70
Servo-electric 2-finger parallel gripper
Imprint
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights reserved. Any reproduction, processing, distribution (making available to third parties),
translation or other usage - even excerpts - of the manual is especially prohibited and requires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389738
Version: 02.00|22/10/2018|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear Customer,
thank you for trusting our products and our family-owned company, the leading techno-
logy supplier of robots and production machines.
Our team is always available to answer any questions on this product and other solutions.
Ask us questions and challenge us. We will find a solution!
Best regards,
Your SCHUNK team
SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. +49-7133-103-0
Fax +49-7133-103-2399
info@de.schunk.com
schunk.com
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Table of contents
Table of contents
1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Definition of Terms...................................................................................6
1.1.3 Applicable documents ..............................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery ..................................................................................................6
1.4 Accessories ........................................................................................................... 6
2 Basic safety notes ................................................................................................... 7
2.1 Intended use......................................................................................................... 7
2.2 Not intended use.................................................................................................. 7
2.3 Constructional changes ........................................................................................8
2.4 Spare parts ........................................................................................................... 8
2.5 Gripper fingers ..................................................................................................... 8
2.6 Environmental and operating conditions .............................................................8
2.7 Personnel qualification......................................................................................... 8
2.8 Personal protective equipment............................................................................ 9
2.9 Notes on safe operation ..................................................................................... 10
2.10 Transport ............................................................................................................ 10
2.11 Malfunctions....................................................................................................... 10
2.12 Disposal .............................................................................................................. 10
2.13 Fundamental dangers......................................................................................... 11
2.13.1 Protection during handling and assembly ..............................................11
2.13.2 Protection during commissioning and operation ...................................11
2.13.3 Protection against dangerous movements.............................................12
2.13.4 Protection against electric shock............................................................12
2.13.5 Protection against magnetic and electromagnetic fields .......................13
2.14 Notes on particular risks..................................................................................... 14
3 Technical data.........................................................................................................16
3.1 Outer dimensions ............................................................................................... 16
3.2 Basic data ........................................................................................................... 16
3.3 Electrical operating data..................................................................................... 17
3.4 Name plate ......................................................................................................... 17
4 Design and description............................................................................................18
4.1 Design ................................................................................................................. 18
4.2 Description ......................................................................................................... 18
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Table of contents
5 Assembly and settings ............................................................................................20
5.1 Electrical connection .......................................................................................... 20
5.2 Mounting on the external lightweight arm ........................................................ 21
6 Commissioning .......................................................................................................24
6.1 Configuration via the service interface............................................................... 25
6.2 Updating firmware ............................................................................................. 27
7 Functional description ............................................................................................28
8 Troubleshooting .....................................................................................................29
8.1 Communication interrupted...............................................................................29
8.2 Product is not reacting, not moving or stops suddenly...................................... 29
8.3 Unusual noise during operation ......................................................................... 29
8.4 Product does not execute a complete stroke..................................................... 29
8.5 Product moves sluggishly or jerks ......................................................................29
9 Maintenance, cleaning and repair...........................................................................30
9.1 Maintenance ...................................................................................................... 30
9.2 Cleaning .............................................................................................................. 30
9.3 Repair ................................................................................................................. 30
10 Translation of original declaration of incorporation ................................................31
10.1 Annex to Declaration of Incorporation............................................................... 32
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1 General
1.1 About this manual
This manual contains important information for a safe and appropriate use of the product.
This manual is an integral part of the product and must be kept accessible for the personnel at all times.
Before starting work, the personnel must have read and understood this operating manual. Prerequisite for safe working is the
observance of all safety instructions in this manual.
Illustrations in this manual are provided for basic understanding
and may differ from the actual product design.
In addition to these instructions, the documents listed under Ap-
plicable documents [}6] are applicable.
1.1.1 Presentation of Warning Labels
General
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Danger for persons!
Non-observance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
NOTICE
Material damage!
Information about avoiding material damage.
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General
1.1.2 Definition of Terms
The term "product" replaces the product name on the title page in
this manual.
1.1.3 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
• Software manual "Motion Control SCHUNK" *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.2 Warranty
If the product is used as intended, the warranty is valid for 24
months from the ex-works delivery date under the following conditions:
• Observe the ambient conditions and operating conditions, Basic
data [}16]
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
• Servo-electric 2-finger parallel gripper
• Product-CD with documentation, Software
• Assembly and Operating Manual
1.4 Accessories
A wide range of accessories are available for this product
Designation Ident number
Flat change head FWK115 ISO 31000995
PCM13, USB/CAN-Bus adapter 307913
diagnostic adapter 1344896
PAM 150 top jaw blank (finger) ABR/PG+70 307850
PAE 200 CAN BUS termination 31001036
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Basic safety notes
2 Basic safety notes
2.1 Intended use
The product is designed exclusively for gripping and temporarily
holding workpieces or objects.
The product is intended for installation in a machine. The conditions of the Machinery Directive for an incomplete machine must
be observed.
The product has been specially designed for use on lightweight
arms from SCHUNK. If the defined application parameters are adhered to, the use on standard industrial and lightweight robots is
permitted.
The manufacturer of the machine is responsible for carrying out a
risk analysis and for the protective equipment resulting from the
analysis. The safety-related information contained in the "Electrical equipment of machines" standard (DIN EN 60204) must be
observed. Commissioning is only permitted in compliance with
EMC directives (89/336/EEC).
The safety-related information contained in the "Electrical equipment of machines" standard (DIN EN 60204) must be observed.Commissioning is only permitted in compliance with EMC
directives (2014/30/EU).
• When implementing and operating components in safety-related parts of the control systems, the basic safety principles in
accordance with DIN EN ISO 13849-2 apply. The proven safety
principles in accordance with DIN EN ISO 13849-2 also apply to
categories 1, 2, 3 and 4.
• The product may only be used within the scope of its technical
data, Technical data [}16].
• The product is intended for installation in a machine/system.
The applicable guidelines must be observed and complied with.
• Appropriate use of the product includes compliance with all instructions in this manual.
2.2 Not intended use
It is not intended use if the product is used, for example, as a
pressing tool, stamping tool, lifting gear, guide for tools, cutting
tool, clamping device or a drilling tool.
It is forbidden to use the product outdoors, underground or in explosive atmospheres.
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
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Basic safety notes
2.3 Constructional changes
Implementation of structural changes
By conversions, changes, and reworking, e.g. additional threads,
holes, or safety devices can impair the functioning or safety of the
product or damage it.
• Structural changes should only be made with the written approval of SCHUNK.
2.4 Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and damage the product or cause it to malfunction.
• Use only original spare parts or spares authorized by SCHUNK.
2.5 Gripper fingers
Requirements for the gripper fingers
Stored energy within the product creates the risk of serious injuries and significant property damage.
• Arrange the gripper fingers in a way that the product reaches
either the position "open" or "closed" in a de-energized state.
• Only exchange the gripper fingers when no residual energy remains in the product.
• Make sure that the product and the top jaws are a sufficient
size for the application.
2.6 Environmental and operating conditions
Required ambient conditions and operating conditions
Incorrect ambient and operating conditions can make the product
unsafe, leading to the risk of serious injuries, considerable material
damage and/or a significant reduction to the product's life span.
See also Basic data [}16].
2.7 Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently qualified,
the result may be serious injuries and significant property damage.
• All work may only be performed by qualified personnel.
• Before working with the product, the personnel must have read
and understood the complete assembly and operating manual.
• Observe the national safety regulations and rules and general
safety instructions.
The following personal qualifications are necessary for the various
activities related to the product:
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Basic safety notes
Trained electrician
Qualified personnel
Instructed person
Service personnel of
the manufacturer
2.8 Personal protective equipment
Due to their technical training, knowledge and experience, trained
electricians are able to work on electrical systems, recognize and
avoid possible dangers and know the relevant standards and regulations.
Due to its technical training, knowledge and experience, qualified
personnel is able to perform the delegated tasks, recognize and
avoid possible dangers and knows the relevant standards and regulations.
Instructed persons were instructed by the operator about the delegated tasks and possible dangers due to improper behaviour.
Due to its technical training, knowledge and experience, service
personnel of the manufacturer is able to perform the delegated
tasks and to recognize and avoid possible dangers.
Use of personal protective equipment
Personal protective equipment serves to protect staff against
danger which may interfere with their health or safety at work.
• When working on and with the product, observe the occupational health and safety regulations and wear the required personal protective equipment.
• Observe the valid safety and accident prevention regulations.
• Wear protective gloves to guard against sharp edges and
corners or rough surfaces.
• Wear heat-resistant protective gloves when handling hot surfaces.
• Wear protective gloves and safety goggles when handling hazardous substances.
• Wear close-fitting protective clothing and also wear long hair in
a hairnet when dealing with moving components.
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Basic safety notes
2.9 Notes on safe operation
Incorrect handling of the personnel
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Avoid any manner of working that may interfere with the function and operational safety of the product.
• Use the product as intended.
• Observe the safety notes and assembly instructions.
• Do not expose the product to any corrosive media. This does
not apply to products that are designed for special environments.
• Eliminate any malfunction immediately.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and environmental
protection regulations regarding the product's application field.
2.10 Transport
Handling during transport
Incorrect handling during transport may impair the product's safety
and cause serious injuries and considerable material damage.
• When handling heavy weights, use lifting equipment to lift the
product and transport it by appropriate means.
• Secure the product against falling during transportation and
handling.
• Stand clear of suspended loads.
2.11 Malfunctions
Behavior in case of malfunctions
• Immediately remove the product from operation and report the
malfunction to the responsible departments/persons.
• Order appropriately trained personnel to rectify the malfunction.
• Do not recommission the product until the malfunction has
been rectified.
• Test the product after a malfunction to establish whether it still
functions properly and no increased risks have arisen.
2.12 Disposal
Handling of disposal
The incorrect handling of disposal may impair the product's safety
and cause serious injuries as well as considerable material and environmental harm.
• Follow local regulations on dispatching product components for
recycling or proper disposal.
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2.13 Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety devices.
• Before commissioning the product, take appropriate protective
measures to secure the danger zone.
• Disconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy remains in the system.
• If the energy supply is connected, do not move any parts by
hand.
• Do not reach into the open mechanism or movement area of
the product during operation.
2.13.1 Protection during handling and assembly
Incorrect handling and assembly
Basic safety notes
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Have all work carried out by appropriately qualified personnel.
• For all work, secure the product against accidental operation.
• Observe the relevant accident prevention rules.
• Use suitable assembly and transport equipment and take precautions to prevent jamming and crushing.
Incorrect lifting of loads
Falling loads may cause serious injuries and even death.
• Stand clear of suspended loads and do not step into their swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
2.13.2 Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• Take appropriate protective measures to secure the danger zone.
• Never step into the danger zone during operation.
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Basic safety notes
2.13.3 Protection against dangerous movements
Unexpected movements
Residual energy in the system may cause serious injuries while
working with the product.
• Switch off the energy supply, ensure that no residual energy remains and secure against inadvertent reactivation.
• Never rely solely on the response of the monitoring function to
avert danger. Until the installed monitors become effective, it must
be assumed that the drive movement is faulty, with its action being
dependent on the control unit and the current operating condition
of the drive. Perform maintenance work, modifications, and attachments outside the danger zone defined by the movement range.
• To avoid accidents and/or material damage, human access to the
movement range of the machine must be restricted. Limit/prevent
accidental access for people in this area due through technical safety
measures. The protective cover and protective fence must be rigid
enough to withstand the maximum possible movement energy.
EMERGENCY STOP switches must be easily and quickly accessible.
Before starting up the machine or automated system, check that the
EMERGENCY STOP system is working. Prevent operation of the machine if this protective equipment does not function correctly.
2.13.4 Protection against electric shock
Work on electrical equipment
Touching live parts may result in death.
• Work on the electrical equipment may only be carried out by
qualified electricians in accordance with the electrical engineering regulations.
• Lay electrical cables properly, e. g. in a cable duct or a cable
bridge. Observe standards.
• Before connecting or disconnecting electrical cables, switch off
the power supply and check that the cables are free of voltage.
Secure the power supply against being switched on again.
• Before switching on the product, check that the protective
earth conductor is correctly attached to all electrical components according to the wiring diagram.
• Check whether covers and protective devices are fitted to prevent contact with live components.
• Do not touch the product's terminals when the power supply is
switched on.
Possible electrostatic energy
Components or assembly groups may become electrostatically
charged. When the electrostatic charge is touched, the discharge
may trigger a shock reaction leading to injuries.
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Basic safety notes
• The operator must ensure that all components and assembly
groups are included in the local potential equalisation in accordance with the applicable regulations.
• While paying attention to the actual conditions of the working
environment, the potential equalisation must be implemented
by a specialist electrician according to the applicable regulations.
• The effectiveness of the potential equalisation must be verified
by executing regular safety measurements.
2.13.5 Protection against magnetic and electromagnetic fields
Work in areas with magnetic and electromagnetic fields
Magnetic and electromagnetic fields can lead to serious injuries.
• 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 systems are mounted, started up, and operated.
• Persons with pace-makers, metal implants, metal shards, or
hearing aids require the consent of a physician before entering
areas in which magnetic grippers or motor parts with permanent magnets are stored, repaired, or assembled.
• Do not operate high-frequency or radio devices in the proximity
of electric components of the drive system and their feed lines.
If the use of such devices is necessary:
When starting up the electric drive and control system, check
the machine or automated system for possible failures when
such systems are used at different intervals and in different
states of the control system. A special additional EMC test may
be necessary if the system has a high risk potential.
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Basic safety notes
2.14 Notes on particular risks
DANGER
Danger from electric voltage!
Touching live parts may result in death.
• Switch off the power supply before any assembly, adjustment
or maintenance work and secure against being switched on
again.
• Only qualified electricians may perform electrical installations.
• Check if de-energized, ground it and hot-wire.
• Cover live parts.
DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even death.
• Stand clear of suspended loads and do not step within their
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
• Wear suitable protective equipment.
WARNING
Risk of injury from objects falling and being ejected!
Falling and ejected objects during operation can lead to serious
injury or death.
• Take appropriate protective measures to secure the danger
zone.
WARNING
Risk of injury due to hot surfaces.
In high ambient temperatures, it is possible for the product to be
exposed to excessive heat, causing the surfaces to become hot.
• Wear protective gloves.
• Allow the product to cool to at least 40°C before touching it.
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Basic safety notes
WARNING
Risk of injury due to sudden movements in case of EMC malfunctions!
If the EMC directive is not observed when connecting the
product, malfunctions in the control units and drives can cause
unexpected machine movements.
• Observe the EMC directive when connecting the product.
WARNING
In case of overload, risk of injury due to sudden movements!
If the product is overloaded, the integrated brake will no longer
function properly. This may result in sudden machine movements.
• Operate the product within the specifications defined at all
times.
WARNING
In case of product malfunction, risk of injury due to sudden
movements!
Electrical devices are not generally protected against failure.
• Therefore, the user is responsible for ensuring that the machine
is brought into a safe state in case of product malfunction.
WARNING
Risk of injury due to sudden movements in case of electrical
malfunctions!
Electrical malfunctions can lead to sudden movements in the machine.
• During transport and handling, do not bend any of the com-
ponents or change the insulation clearance.
• To avoid damage due to electrostatic charges, do not touch
the electrical components.
• Properly execute all grounding, fastening and cabling work in
accordance with applicable regulations.
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15
Technical data
*
3 Technical data
3.1 Outer dimensions
* The difference to the recommended maximum stroke results from the setting range for the software end position
3.2 Basic data
Ident number 31001294
Recommended maximum stroke per finger
[mm]
Gripping force [N]
min.
max.
Nominal gripping force [N] 160
Recommended workpiece weight [kg] 1.0
Max. permissible finger length (at nominal
force) [mm]
Repeatability [mm] ±0.05
Max. permissible speed [mm/s] 82
Max. acceleration [mm/s²] 328
Weight [kg] 1.2
Environmental and operating conditions
Ambient temperature [°C]
min.
max.
30
30
200
140
+5
+55
IP protection class 20
Noise emission [dB(A)] ≤ 70
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3.3 Electrical operating data
Operating data Motor internal
Motor current at nominal gripping force [A] 1.4
Maximum motor current [A] 6.5
Power supply
Voltage supply logic [VDC] 24 ± 10%
Technical data
Voltage supply power [VDC]
24 ± 10%
(stabilized and smoothed, internal reverse
polarity protection)
Maximum current consumption (logic) [A]
Maximum current consumption (power)
from power supply unit [A]
Control electronics
Power supply [VDC] 24.0
Nominal power current [A] 0.5
Sensor system Encoder
Interfaces • CAN bus (Protocoll:
CANopen DS 402)
• USB (service interface)
3.4 Name plate
0.5
1.8
The name plate is located on the front wall next to the service interface.
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Design and description
4 Design and description
4.1 Design
1 Gripper base jaws with
base jaw guide
2 Case 4 Service interface
3 Flat change adapter
FWA115
4.2 Description
The 2-finger parallel gripper is a servo-electric gripping module
with integrated control and regulating electronics.
The 2-finger parallel gripper is designed to be attached to a LWA
4P or LAW 4D lightweight arm.
The defined mechanical and electrical interface also makes it possible to attach it to other commercially available industrial and
lightweight arms.
Attaching it to a lightweight arm or to another application is carried
out via the SCHUNK flat change system FWS115 Accessories [}6] .
The 2-finger parallel gripper is suitable for mobile applications due
to its design and low energy consumption.
A brushless DC servomotor drives both of the gripper base jaws.
An integrated permanent magnet brake for holding the position of
the drive blocks the motor shaft when actuated by the motor control accordingly and when the supply voltage is switched off (the
brake is not approved for holding workpieces). The position of the
gripper base jaws is constantly monitored using a sensor system.
In this way the distance between the gripper base jaws in relation
to one another is determined using internal referencing.
The complete control electronics is integrated in the 2-finger parallel gripper.
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Design and description
Power supply and control cables for the 2-finger parallel gripper
are connected with gold-plated spring contacts via adapter boards
of the flat change system.
A service interface with USB port and three micro switches is
found under a screwed-on cover.
The 2-finger parallel gripper is controlled via a CAN bus interface
with CANopen protocol.
During installation or servicing, the configuration of the 2-finger
parallel gripper can be adjusted using the MTS software (Motion
Tool SCHUNK). Defined settings are secured by multiple levels of
password protection.
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19
Assembly and settings
5.1 Electrical connection
5 Assembly and settings
1 Circuit board of the FWK115 flat change system with spring
contacts
The 2-finger parallel gripper has two separate inputs of 24 VDC
each for motor and logic voltage.
Electrical connection is made at the circuit board of the FWK115
flat change system.
For the supply of power, a sufficiently dimensioned power supply
unit must be used.
Make sure the dimensions of the cable cross-section are adequate
when cabling.
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Assembly and settings
5.2 Mounting on the external lightweight arm
CAUTION
Risk of injury when the gripper is torn from the lightweight arm!
If the mounting process has not been performed properly, the
gripper may come loose from the lightweight arm.
• Mount the flat change system properly.
• Tighten the lateral cylindrical screw to the clamping ring with
an Allen key and sufficient torque.
Using the flat change system, the gripper can be mounted on a
lightweight arm.
FWS flat change system
1 FWK head (input side) 6 FWA adapter (output side)
2 Clamping ring 7 JST socket
3 Soldering surface +24 V
UMotor
4 GND UMotor soldering sur-
face
5 JST socket
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8 GND UMotor soldering sur-
face
9 Soldering surface +24 V
UMotor
21
Assembly and settings
The FWK115 flat change head is comprised of the following components:
• Clamping ring
• Flange
• Adapter board
• Centering pin
• Seal
• Screws
Mounting screws and O-rings are attached to the flat change sys-
tem.
Mount the gripper to the lightweight arm as follows:
■ Ensure that the interface is de-energized.
Ø Mount the centering pin on the robot.
Ø Align the flange with the centering pin and place on the center-
ing pin.
Ø Screw flange with 8 M3 screws.
Ø Insert the FWA flat change adapter onto the flat change head of
the robot arm so that the centering pin aligns with the bore
hole.
Ø Secure the clamping ring with the lateral cylindrical screw.
CAUTION
Risk of injury due to incorrect electrical connection! Risk of
product damage due to faulty electrical connection!
If the electrical connection is not performed properly, a malfunction or short circuit may occur.
• The operator is responsible for executing the electrical con-
nection correctly.
• Ventilate the room adequately in case of a short circuit.
Electrical connection is made at the adapter board of the FWK115
flat change head.
Ø Solder on the marked area of the soldering surfaces on the in-
put side of the 24 V DC and GND power supply lines.
Ø Plug the JST connector of the signal lines in the JST adapter
board socket.
Ø Wire the JST plug according to the following table.
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Pin assignment JST plug
Assembly and settings
D-Sub signal lines to JST plug connection
Pin Assignment Recommended cable
Wire color
cross-section [mm²]
1 - 4 not assigned
5 GND Integrated electronics 0.5 Yellow
6 +24 V Integrated electronics 0.5 Brown
7 CAN High ERB 0.14 Green
8 CAN Low ERB 0.14 White
Soldering surfaces
Designation Assignment Recommended
cable cross-section
Recommended wire
color
[mm²]
+UM +24 VDC supply 0.5 Red
-UM GND supply 0.5 Black
NOTE
The clamps and the two-pronged sockets on the adapter board
are not used.
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23
Commissioning
6 Commissioning
CAUTION
Risk of injury due to the workpiece falling!
In the event of a power failure or incorrect gripping process, the
gripped workpiece may fall.
• Ensure that the gripping process is performed correctly with a
suitable gripping force.
• Keep distance.
• Wear suitable safety boots.
NOTICE
Risk of damage to joints and drives!
Overloading can cause the joints and drives to be damaged.
• Do not exceed the current values and speed specified for the
drive.
• Do not move the mechanical end stop when the drive is in op-
eration.
• Do not operate on block for a long period of time.
If the product is mounted on an external device (e.g. lightweight
arm), the operator is responsible for ensuring the operational
safety of this equipment.
System requirements for commissioning.
• Computer
• Control software
Commissioning is dependent on the control software installed. The
operator is responsible for adhering to the technical specifications
of the product (see 3 technical data).
The interfaces are used for configuration and commissioning as
follows:
• Configuration via service interface. This is always possible, also
in the built-in condition.
• Commissioning and configuration via CAN bus. The addresses
must be known for this.
The following describes the configuration via the service interface.
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Commissioning
6.1 Configuration via the service interface
NOTICE
Danger of damage to the product!
The service interface is not designed to operate the product. Operating via the service interface may cause damage to the
product.
• Only use the service interface to configure the product.
1 Microswitch SW1 3 Microswitch SW3
2 Microswitch SW2 4 USB port
The USB port and the service interface microswitches are installed
and protected under screwed-on cover.
Ø Remove two hexagon socket screws from the cover.
Ø Remove the cover with seal. If necessary, remove the cover
with a suitable tool (small screwdriver).
Ø Adjust the microswitches as desired.
Ø After adjusting, replace the cover with seal.
Ø Screw two hexagon socket screws into the cover.
NOTE
• Only actuate the SW2 (BOOT) and SW3 (DEFAULT) when the
gripper is de-energized.
• The microswitches are very small. To operate them safely, use a
suitable tool and if necessary, a flashlight.
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25
Commissioning
Designation Function
SW1 CAN bus termination
ON: CAN bus termination active
OFF: CAN bus not terminated (standard)
SW2 BOOT
ON: Setting for firmware update
OFF: Operation or configuration via CAN bus (standard)
SW3 DEFAULT
ON: Resetting interfaces to parameterization mode,
USB port active
OFF: Retaining current setting (standard)
NOTICE!The ON position is evaluated during every
restart. Switch microswitch into OFF position
straight after setting.
The following DEFAULT values are set when resetting to parameterization mode:
Designation Value
Interface SCHUNK USB (RS232),
SMP SCHUNK MOTION Protocol
Baud rate 9600
Module address 12
Only the USB service interface is active immediately after resetting.
With the configuration and commissioning tool "Motion Tool
SCHUNK", switch the communication type to CANopen or CAN (SMP).
The service interface is equipped with a plug in USB Mini B format.
Commercial cables for the respective connections may be used.
Every address must be unique in the CAN bus system.
A complete set of suitable values for use in typical applications is
preset at the factory and integrated into the storage for all grippers. These values do not require modification if the user has no
need.
NOTE
All factory-set default values are presented in the accompanying
set of parameters.
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Commissioning
System requirements
• PC (laptop, etc.)
• Operating system: "Windows XP" or higher
• Configuration and commissioning tool "Motion Tool SCHUNK"
• USB interface (USB 2.0)
• USB plug cable to mini-USB plug included in the scope of delivery
• Optional: CAN bus interface, e.g. USB/CAN adapter
Recommended sequence for the essential commissioning steps:
Ø Check system requirements
Ø Check electrical connections (power supply and communication
interface).
Ø Start configuration and commissioning tool "Motion Tool
SCHUNK".
Ø Switch off the power supply.
Ø Remove the cover of the service interface.
Ø Switch DEFAULT microswitch to the "ON" position.
Ø Switch on power supply switch and then switch off again after a
few seconds.
Ø Switch DEFAULT microswitch to "OFF" position.
Ø Switch on the power supply.
Ø Connect USB cable to the USB port.
Ø Install the driver software from the MTS directory during first use.
Ø Start configuration and commissioning tool "Motion Tool
SCHUNK" and select interface and baud rate.
Ø Search for the connected rotary module with the F3 key (or us-
ing the menu item Search Module/Bus). A separate window is
displayed for each drive.
Ø Open parameter page that contains multiple tables.
Ø If necessary, change the respective parameters. The parameters
shown in green may be modified and saved by pressing the
Write button in the rotary module.
OR:
Reload basic settings. To do this, load the standard EEPROM file
for the rotary module by selecting the menu item File Download.
Ø Check the new settings via the chosen interface.
Ø Switch off the power supply.
Ø Fit the cover of the service interface with a seal.
6.2 Updating firmware
A firmware update is only required in exceptional cases and can
only be performed after consultation with the SCHUNK service department.
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Functional description
7 Functional description
The product is controlled via the CAN bus interface during operation.
NOTICE
Danger of damage to the product!
The service interface is not designed to operate the product. Operating via the service interface may cause damage to the
product.
• Only use the service interface to configure the product.
The USB port is only to be used as a service interface for the following functions:
• Parameterization of the rotary module
• Updating firmware
• Error diagnostics
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Troubleshooting
8 Troubleshooting
8.1 Communication interrupted
Possible cause Corrective action
Faulty termination of CAN bus Check whether the termination
settings are correct (termination
at the beginning and end of the
bus)
Perform a measurement
between the CAN_H and CAN_L
(set value: 60 Ω)
Check whether the microswitch
is correctly switched to the position for termination
8.2 Product is not reacting, not moving or stops suddenly
Possible cause Corrective action
The power supply for the drive
or the electronic control unit has
malfunctioned
Communication has been connected incorrectly
Supply cable is defective Check supply cables for damage;
Check the power supply
Check the signal communication
lines
replace if necessary
8.3 Unusual noise during operation
Possible cause Corrective action
Mechanical damage Send the product to SCHUNK for
repair
8.4 Product does not execute a complete stroke
Possible cause Corrective action
Dirt deposits in the cavities. Send the product to SCHUNK
with a repair order.
8.5 Product moves sluggishly or jerks
Possible cause Corrective action
Dirt deposits in the cavities. Clean cavities.
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Maintenance [}30]
29
Maintenance, cleaning and repair
9 Maintenance, cleaning and repair
9.1 Maintenance
This product does not require maintenance.
9.2 Cleaning
Clean the surface of the product when necessary.
The general rule is:
• Only use solvent-free, water-based cleaning agents.
• The cleaning agent may not be flammable.
• Do not use steam, coolant or high-pressure cleaners.
• Do not allow the cleaning agent to penetrate into electrical or
mechanical equipment.
9.3 Repair
NOTICE
Risk of damage due to improper use of the product!
The mechanics and internal electronics may become damaged
when disassembling the product.
• The product may only be disassembled and repaired by
SCHUNK.
The components of the product are adapted to each other. Repairs
are only possible at the manufacturer.
For repair or replacement, send the product repair order to
SCHUNK together with a repair order.
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Translation of original declaration of incorporation
10 Translation of original declaration of incorporation
in terms of the Directive 2006/42/EG, Annex II, Part 1.B of the European Parliament and of
the Council on machinery.
Manufacturer/
Distributor
SCHUNK GmbH & Co. KG Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
We hereby declare that on the date of the declaration the following partly completed machine complied with all basic safety and health regulations found in the directive 2006/42/
EC of the European Parliament and of the Council on machinery. The declaration is
rendered invalid if modifications are made to the product.
Product designation: Servo-electric 2-finger parallel gripper / PG-plus 70 /
ID number 31001294
The partly completed machine may not be put into operation until conformity of the machine into which the partly completed machine is to be installed with the provisions of the
Machinery Directive (2006/42/EC) is confirmed.
Applied harmonized standards, especially:
EN ISO 12100:2010 Safety of machinery - General principles for design -
Risk assessment and risk reduction
The manufacturer agrees to forward on demand the relevant technical documentation for
the partly completed machinery in electronic form to national authorities.
The relevant technical documentation according to AnnexVII, Part B, belonging to the
partly completed machinery, has been created.
Person authorized to compile the technical documentation:
Robert Leuthner, Address: see manufacturer's address
Lauffen/Neckar, October 2018 p.p. Ralf Winkler,
Manager for development
of gripping system components
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Translation of original declaration of incorporation
10.1 Annex to Declaration of Incorporation
according 2006/42/EG, Annex II, No. 1 B
1.Description of the essential health and safety requirements pursuant to 2006/42/EC, Annex I that are applicable and that have been fulfilled with:
Product designation Servo-electric 2-finger parallel gripper
Type designation PG-plus 70
ID number 31001294
To be provided by the System Integrator for the overall machine ⇓
Fulfilled for the scope of the partly completed machine ⇓
Not relevant ⇓
1.1 Essential Requirements
1.1.1 Definitions X
1.1.2 Principles of safety integration X
1.1.3 Materials and products X
1.1.4 Lighting X
1.1.5 Design of machinery to facilitate its handling X
1.1.6 Ergonomics X
1.1.7 Operating positions X
1.1.8 Seating X
1.2 Control Systems
1.2.1 Safety and reliability of control systems X
1.2.2 Control devices X
1.2.3 Starting X
1.2.4 Stopping X
1.2.4.1 Normal stop X
1.2.4.2 Operational stop X
1.2.4.3 Emergency stop X
1.2.4.4 Assembly of machinery X
1.2.5 Selection of control or operating modes X
1.2.6 Failure of the power supply X
1.3 Protection against mechanical hazards
1.3.1 Risk of loss of stability X
1.3.2 Risk of break-up during operation X
1.3.3 Risks due to falling or ejected objects X
1.3.4 Risks due to surfaces, edges or angles X
1.3.5 Risks related to combined machinery X
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Translation of original declaration of incorporation
1.3 Protection against mechanical hazards
1.3.6 Risks related to variations in operating conditions X
1.3.7 Risks related to moving parts X
1.3.8 Choice of protection against risks arising from moving parts X
1.3.8.1 Moving transmission parts X
1.3.8.2 Moving parts involved in the process X
1.3.9 Risks of uncontrolled movements X
1.4 Required characteristics of guards and protective devices
1.4.1 General requirements X
1.4.2 Special requirements for guards X
1.4.2.1 Fixed guards X
1.4.2.2 Interlocking movable guards X
1.4.2.3 Adjustable guards restricting access X
1.4.3 Special requirements for protective devices X
1.5 Risks due to other hazards
1.5.1 Electricity supply X
1.5.2 Static electricity X
1.5.3 Energy supply other than electricity X
1.5.4 Errors of fitting X
1.5.5 Extreme temperatures X
1.5.6 Fire X
1.5.7 Explosion X
1.5.8 Noise X
1.5.9 Vibrations X
1.5.10 Radiation X
1.5.11 External radiation X
1.5.12 Laser radiation X
1.5.13 Emissions of hazardous materials and substances X
1.5.14 Risk of being trapped in a machine X
1.5.15 Risk of slipping, tripping or falling X
1.5.16 Lightning X
1.6 Maintenance
1.6.1 Machinery maintenance X
1.6.2 Access to operating positions and servicing points X
1.6.3 Isolation of energy sources X
1.6.4 Operator intervention X
1.6.5 Cleaning of internal parts X
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Translation of original declaration of incorporation
1.7 Information
1.7.1 Information and warnings on the machinery X
1.7.1.1 Information and information devices X
1.7.1.2 Warning devices X
1.7.2 Warning of residual risks X
1.7.3 Marking of machinery X
1.7.4 Instructions X
1.7.4.1 General principles for the drafting of instructions X
1.7.4.2 Contents of the instructions X
1.7.4.3 Sales literature X
The classification from Annex 1 is to be supplemented from here forward.
2 Supplementary essential health and safety requirements for certain
categories of machinery
2.1 Foodstuffs machinery and machinery for cosmetics or pharmaceutical
products
2.2 Portable hand-held and/or guided machinery X
2.2.1 Portable fixing and other impact machinery X
2.3 Machinery for working wood and material with similar physical characteristics
3 Supplementary essential health and safety requirements to offset haz-
X
ards due to the mobility of machinery
4 Supplementary essential health and safety requirements to offset haz-
X
ards due to lifting operations
5 Supplementary essential health and safety requirements for machinery
intended for underground work
6 Supplementary essential health and safety requirements for machinery
X
presenting particular hazards due to the lifting of persons
X
X
X
X
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Notes
Notes
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