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SWS-L-310

SCHUNK SWS-L, SWS-L-210, SWS-L-1210, SWS-L-310, SWS-L-510 Assembly And Operating Manual

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Page 1
Original manual
Assembly and operating manual
SWS-L
Heavy Load Change System
Page 2
Imprint
2
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: 0389037
Version: 02.00|12/11/2018|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
[email protected] schunk.com
Page 3
Table of contents
3
Table of contents
1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Applicable documents ..............................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Accessories ........................................................................................................... 6
2 Basic safety notes ................................................................................................... 7
2.1 Intended use......................................................................................................... 7
2.2 Not intended use.................................................................................................. 7
2.3 Ambient conditions and operating conditions ..................................................... 7
2.4 Personnel qualification......................................................................................... 8
2.5 Personal protective equipment............................................................................ 8
2.6 Notes on particular risks....................................................................................... 9
3 Technical Data ........................................................................................................11
4 Product description.................................................................................................13
4.1 Quick-change head (SWK-L) ............................................................................... 13
4.2 Quick Change Adapter (SWA-L) ..........................................................................16
4.3 Optional Modules............................................................................................... 18
5 Installation .............................................................................................................19
5.1 SWK-L ................................................................................................................. 21
5.2 SWA-L .................................................................................................................22
5.3 Tool Stand Design ............................................................................................... 23
6 Operation ...............................................................................................................25
6.1 Coupling Sequence ............................................................................................. 25
6.2 Fail-Safe Operation............................................................................................. 27
6.3 Uncoupling ......................................................................................................... 27
6.4 Integrated Sensors (SWS-L-1210) ....................................................................... 29
7 Troubleshooting .....................................................................................................31
8 Maintenance and Care............................................................................................35
8.1 Preventive Maintenance .................................................................................... 35
8.2 Cleaning, Lubrication, Adjustment and Replacement ........................................37
8.2.1 Cleaning and Lubrication of the Locking Mechanism ............................37
8.2.2 Lock and Unlock Sensor Assembly Replacement....................................39
8.2.3 Lock/Unlock Sensor Adjustment and Replacement (Units using individual
sensors) .................................................................................................. 44
8.2.4 RTL Sensor Replacement ........................................................................46
8.2.5 Alignment Pin Replacement ...................................................................49
8.3 Recommended Spare Parts ................................................................................51
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Table of contents
4
8.3.1 SWS-L-210...............................................................................................51
8.3.2 SWS-L-310...............................................................................................51
8.3.3 SWS-L-510...............................................................................................51
8.3.4 SWS-L-1210.............................................................................................51
8.4 Assembly drawings ............................................................................................. 52
8.4.1 SWS-L-210...............................................................................................52
8.4.2 SWS-L-310...............................................................................................54
8.4.3 SWS-L-510...............................................................................................56
8.4.4 SWS-L-1210.............................................................................................58
9 Translation of original declaration of incorporation ................................................60
9.1 Annex to Declaration of Incorporation............................................................... 61
Page 5
General
5
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
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.
Page 6
General
6
1.1.2 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories * 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 specified maintenance and lubrication intervals
• Observe the ambient conditions and operating conditions Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Accessories
A wide range of accessories are available for this product For information regarding which accessory articles can be used
with the corresponding product variants, see catalog data sheet.
Page 7
Basic safety notes
7
2 Basic safety notes
2.1 Intended use
The product (quick-change system SWS-L, consisting of quick­change head SWK-L and quick-change-adapter SWA-L) was de­signed for quickly changing parts and automation components at a robot in context of the technical data.
• The product is intended for installation in a machine/system or for mounting to a robot. The applicable guidelines must be ob­served and complied with.
• 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.
• Make sure that the product is only used within its defined ap­plication parameters.
• The product is intended for industrial use.
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.
• Any utilization that exceeds or differs from the appropriate use is regarded as misuse.
2.3 Ambient conditions 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.
• Make sure that the product is used only in the context of its defined application parameters, Technical Data [}11].
• Make sure that the product is a sufficient size for the applica­tion.
• Make sure that the environment is free from splash water and vapors as well as from abrasion or processing dust. Exceptions are products that are designed especially for contaminated en­vironments.
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Basic safety notes
8
2.4 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:
Trained electrician
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.
Qualified personnel
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 person
Instructed persons were instructed by the operator about the del­egated tasks and possible dangers due to improper behaviour.
Service personnel of the manufacturer
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.
2.5 Personal protective equipment
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.
Page 9
Basic safety notes
9
2.6 Notes on particular risks
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 unexpected movement of the machine/sys­tem!
• Switch off the energy supply.
WARNING
Remove all temporary protective materials (caps, plugs, tape, etc.) on locking face of Tool Changer and modules prior to oper­ation. Failure to do so will result in damage to Tool Changers, modules, and end-of-arm tooling and could cause injury to per­sonnel.
WARNING
Injury or equipment damage can occur with power or air on.
• Do not perform maintenance or repair on Tool Changer or
modules with power or air on.
• Turn off power and air before performing maintenance or re-
pair on Tool Changer or modules.
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Basic safety notes
10
WARNING
During operation, the area between the Quick-Chance-Head SWK and Quick Change Adapter SWA must be kept clear.
Failure to keep area clear will result in damage to Tool Changer, modules , or end-of-arm tooling and could cause injury to person­nel.
WARNING
Using the Tool Changer in applications other than intended will result in damage to Tool Changer, modules, or end-of-arm tool­ing and could cause injury to personnel.
• The Tool Changer is only to be used for intended applications
and applications approved by the manufacturer.
CAUTION
The SWK locking mechanism must not be actuated without be­ing mounted to the robot interface plate.
Damage to the Cover Plate and O-ring may result.
• Always attach the SWK to the Robot interface plate prior to at-
tempting any operations.
Page 11
Technical Data
11
3 Technical Data
Designation Description SWS-L
210 310 510 1210
Suggested Payload [kg]
The mass attached to the Tool Changer.
300 510 700 1350
Working temperature [°C]
5 – 60 5 – 60 5 – 60 5 – 60
Operating pressure [bar]
Locking mechanism sup­ply pressure operating range. Supply to be clean, dry, and filtered to 50 mi­cron or better.
5 – 6.9 5 – 6.9 5 – 6.9 5 – 6.9
Coupling Force @ 5,5 bar [N]
Axial holding force. 31,000 38,000 62,000 93,000
Max. Moment Load [Nm]
(X, Y) Maximum recommended
working load for optimum performance of the Tool Changer.
8,100 9,900 14,700 16,200
(Z) Torsion 6,900 9,600 10,500 16,200
Positional Repeatab­ility [mm]
Repeatability tested at rated load at one million cycles.
0.015
Weight [kg] (coupled, no modules)
Total 8.2 20.4 28 28 SWK-L 5.4 12.7 19.3 18 SWK-A 2.7 7.7 8.7 10
Max. Recommen- ded distance between SWK-L and SWA-L [mm]
No-Touch™ locking techno­logy allows the SWK-L and SWA-L to lock with separa­tion when coupling.
2.5 2.5 2.5 1
Designation Description SWS-L
210 310 510 1210
Mounting/ Customer Interface
SWK-L Meets
ISO 9409-1-A125
Meets ISO 9409-1-A200 Also Supports ABB ISO Pattern
Meets ISO 9409­1-200-6-M12 (Position 11)
Assembly drawings
[}52]
SWA-L Meets ISO
9409-1-A125 Also supports (8) Fasteners on 160 mm BC Pattern
Meets ISO 9409­1-A200 Also Supports (6) Fasteners on ABB ISO Pattern
ISO 9409­1-200-12-M16 (Position 12)
Assembly drawings
[}52]
Page 12
Technical Data
12
Designation Description 210 - 510 1210
Sensor Information, signal name
L/U (Lock/Unlock) Internal proximity
sensors (2) with cable and connector for direct wiring to the control/ signal module to indic­ate locking mechanism position.
Internal proximity sensors (6) with cable and connector to indic­ate locking mechanism position.
RTL (Ready-To-Lock)
Flat Pack proximity sensor with cable and connector for direct wir­ing to control/signal module to indicate SWK­L and SWA-L mating sur­faces within close prox­imity of each other.
Proximity sensors (3) with cable and con­nector for direct wiring to control/signal module to indicate SWK-L and SWA-L mating surfaces within close proximity of each other.
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Product description
13
4 Product description
4.1 Quick-change head (SWK-L)
The Quick-change head (SWK-L) includes an anodized aluminum body, a hardened stainless-steel locking mechanism, and hardened steel alignment pins (see Figure).
The SWK-L plate has 4 (SWK-L-1210 Series: 6) flat sides for mount­ing of optional modules. Flat ‘A’ is dedicated for mounting of the control/signal module along with SWK-L supply air that is provided through an air or valve adapter. Flats ‘B’, ‘C’, and ‘D’ (SWS-L-1210 Series and ‘F’) are fully interchangeable and optional modules can be arranged to suit the application or robot dress as required.
The locking mechanism consists of a cylindrical housing with holes that retain hardened chrome-steel balls. Tapered pins located on the SWK-L mate with holes in the SWA-L to ensure repeatable alignment during the coupling process. An extreme pressure grease is applied to the cam, male coupling, ball bearings and alignment pins to enhance performance and maximize life of the components.
SWK-L-210: A dual-sensor assembly is mounted into the body of the SWK-L to verify the lock/unlock position of the piston and cam. The sensors provide the lock and unlock (L/U) signals through the control/signal module.
SWK-L-310 and 510: Proximity sensors are designed into the body of the SWK-L to verify the lock/unlock position of the piston and cam. The sensors provide the lock and unlock (L/U) signals through the control/signal module.
SWK-L-1210: The SWK-L is comprised of 3 locking mechanisms. Each locking mechanism consists of a cam, male coupling, and chrome-steel balls. Tapered pins located on the SWK-L mate with holes in the SWA-L to ensure repeatable alignment during the coupling process. Extreme pressure grease is applied to the cams, male couplings, ball bearings, and pins to enhance performance and maximize the life of the SWK-L. Proximity sensors (6 total) are designed into the body of the SWK-L to verify the locked/unlocked position of each locking mechanism. Due to the multiple locking mechanism design, the proximity sensors are grouped such that 3 sensors are for Lock and 3 are for Unlock. The Lock/Unlock signal at each locking mechanism is routed to the signal junction module. The junction module provides the control/signal module with the Lock/Unlock state of the SWK-L. See the cable routing illustrations in chapter "Installa­tion" to understand the relationship between the sensors, junction module and control module.)
Page 14
Product description
14
Prox Sensor
Location
(RTL Signal)
Ball Bearing (12x)
Cam
Male Coupling
Alignment Pin (2x)
Lock/UnlockAir Supplied Thru Air/Valve Adapter Maunted to FlatA
Cable Retaining Tabs
Common Ledge Feature For Modul Mounting; Flats B, C, and D
Internal Prox Sensors (Lock/Unlock) [Not Visible]
Prox Sensor
Location
(RTL Signal)
SWK-L 210
Prox Sensor
(RTL Signal)
Ball Bearing (9x)
Cam
Male Coupling
Alignment Pin (2x)
Lock/UnlockAir Supplied Thru Air/Valve Adapter Mounted to Flat A
Cable Retaining Tabs
Common Ledge Mounting Feature (3x)
Internal Prox Sensors (Lock/Unlock) [Not visible]
Prox Sensor
(RTL Signal)
SWK-L 310
Page 15
Product description
15
Prox Sensors (2x)
(RTL Signal)
Body
Male Coupling
Cam
Alignment Pins (2x)
Lock/Unlock air supplied via Air/Valve Adapter mounted to Flat A
Ball Bearings (12x)
Common ledge mounting feature (3x)
Internal Lock/Unlock sensors (Not visible)
SWK-L 510
Ball Bearings (36x)
Cam
Alignment Pin
Proximity Sensor
(RTL Signal)
Lock/Unlock Air Supplied through Air/Valve Adapter Mounted to Flat A
Junction Modul
Proximity Sensor (RTL Signal)
Male Coupling
Common Ledge Feature For Module Mounting; Flats A, B, C, D, E and F
Cable Retaining Tabs
Proximity Sensor (RTL Signal)
SWK-L 1210
Page 16
Product description
16
4.2 Quick Change Adapter (SWA-L)
The Quick Change Adapter (SWA-L) includes an anodized alu­minum body and a hardened stainless-steel bearing race (SWS­L-1210: 3 hardened stainless-steel bearing races). The SWA-L has 4 (SWS-L-1210: 6) flat sides for mounting of optional modules.
Alignment Pin Bushing (2x)
Bearing Race
Prox Sensor Target (RTL)
Prox Sensor Target (RTL)
Common Ledge Feature for Module Mounting: Flats A, B, C, and D
SWA-L 210
Alignment Pin
Bushing (2x)
Bearing Race
Prox Sensor Target
(RTL)
SWA-L (Body)
Prox Sensor or Target (RTL)
Common Ledge Mountong Feature (4x)
SWA-L-310
Page 17
Product description
17
Bushings for Alignment
Pin Location (2x)
RTL Sensor
Target (2x)
SWA-L (Body)
Bearing Race
Common Ledge Mounting Feature (4x)
SWAS-L-510
Proximity Sensor
Target (RTL)
Alignment Pin Bushing
Proximity Sensor
Target (RTL)
Bearing Race
Junction Module Adapter
Common Ledge Feature For Module Mounting; Flats A, B, C, D, E and F
Proximity Sensor Target (RTL)
SWA-L-1210
Page 18
Product description
18
4.3 Optional Modules
There are 4 (SWS-1210: 6) flats available for mounting of the op­tional modules for support of various utility pass-through, such as signal, fluid/air, and power.
For assistance in choosing the right modules for your particular ap­plication, visit our website to see what is available or contact an SCHUNK Sales Representative directly.
In general, flat ‘A’ is reserved for an air/valve adapter module and a control/signal module.
Modules for flats ‘B’, ‘Modules for flats ‘B’, ‘C’, or ‘D’ (SWS-1210: or ’F’) are interchangeable to suit the application or the dress-out required.
The optional modules are mounted to the SWK-L or SWA-L using a common ledge mounting feature. Only 2 M6 SHCS fasteners need to be unscrewed in order to remove the module from the SWK-L/ SWA-L. A secondary mounting support, called a “cleat”, is factory­installed to the SWK-L and SWA-L on each flat that is occupied with a module. The cleats provide additional module support for those situations when hoses or cables may inadvertently be snagged or pulled and may otherwise result in damage to the module.
If modules are added to a SWS-L in the field, then the SWK-L and SKA-L may have to be uninstalled to facilitate the cleat installation.
Page 19
Installation
19
5 Installation
All fasteners used to mount the SWS-L to the robot and to user Tools should be tightened to a torque value as indicated below. Further­more, removable (blue) Loctite 242 must be used on these fasteners.
NOTE
Care should be taken to select fasteners for mounting that are not too long, such that a gap is formed at the interface.
SWS-210
Mounting conditions Fastener Size and
Property Class
Recommen­ded Torque
SWK-L to RIP (6061-T6 aluminum) Minimum thread engagement of 15 mm (1.5 x fastener Ø)
M10–1.5 Class 12.9
75 Nm
SWK-L to Robot (steel; USS ≥ 90KSI) Minimum thread engagement of 10 mm (1.0 x fastener Ø)
M10–1.5 Class 12.9
75 Nm
End-effector Interface Plate (aluminum) to SWA-L (7075­T6 aluminum) Minimum thread engagement of 15 mm (1.5 x fastener Ø)
M10–1.5 Class 12.9
52 Nm
End-effector Interface Plate (aluminum) to SWA-L (7075­T6 aluminum) Minimum thread engagement of 18 mm (1.5 x fastener Ø)
M12–1.75 Class 12.9
94 Nm
SWS-310
Mounting conditions
Fastener Size and Property Class
Recommen­ded Torque
SWK-L to Robot Interface Plate (6061-T6 aluminum) Minimum thread engagement of 24 mm (1.5 x fastener Ø)
M16-2.0 Class 12.9
225 Nm
SWK-L to Robot Interface Plate (6061-T6 aluminum) Minimum thread engagement of 18 mm (1.5 x fastener Ø)
M12-1.75 Class 12.9
95 Nm
SWK-L to Robot (steel; USS ≥ 90KSI) Minimum thread engagement of 16 mm (1.0 x fastener Ø)
M16-2.0 Class 12.9
225 Nm
SWK-L to Robot (steel; USS ≥ 90KSI) Minimum thread engagement of 12 mm (1.0 x fastener Ø)
M12-1.75 Class 12.9
95 Nm
End-effector Interface Plate (aluminum) to SWA-L (7075­T6 aluminum) Thread engagement of 21 mm (1.3 x fastener Ø)
M16-2.0 Class 12.9
225 Nm
End-effector Interface Plate (aluminum) to SWA-L (7075­T6 aluminum) Minimum thread engagement of 18 mm (1.5 x fastener Ø)
M12-1.75 Class 12.9
94 Nm
End-effector Interface Plate (aluminum) to SWA-L (7075­T6 aluminum) Minimum thread engagement of 15 mm (1.5 x fastener Ø)
M10-1.5 Class 12.9
52 Nm
SWA-L to End-effector Interface Plate (6061-T6 aluminum) Minimum thread engagement of 15 mm (1.5 x fastener Ø)
M10-1.5 Class 12.9
52 Nm
Page 20
Installation
20
SWS-510
Mounting conditions Fastener Size and
Property Class
Recommen­ded Torque
SWK-L to Robot Interface Plate (6061-T6 aluminum) Minimum thread engagement of 24 mm (1.5 x fastener Ø)
M16-2.0 Class 12.9
325 Nm
SWK-L to Robot Interface Plate (6061-T6 aluminum) Minimum thread engagement of 18 mm (1.5 x fastener Ø)
M12-1.75 Class 12.9
135 Nm
SWK-L to Robot Interface Plate (steel; USS ≥ 40KSI) Minimum thread engagement of 24 mm (1.5 x fastener Ø)
M16-2.0 Class 12.9
325 Nm
SWK-L to Robot Interface Plate (steel; USS ≥ 40KSI) Minimum thread engagement of 18 mm (1.5 x fastener Ø)
M12-1.75 Class 12.9
135 Nm
SWK-L to Robot (steel; USS ≥ 90KSI) Minimum thread engagement of 16 mm (1.0 x fastener Ø)
M16-2.0 Class 12.9
325 Nm
SWK-L to Robot (steel; USS ≥ 90KSI) Minimum thread engagement of 12 mm (1.0 x fastener Ø)
M12-1.75 Class 12.9
135 Nm
End-effector Interface Plate (steel or aluminum) to SWA-L (7075-T6 aluminum) Minimum thread engagement of 24 mm (1.5 x fastener Ø)
M16-2.0 Class 12.9
225 Nm
End-effector Interface Plate (steel or aluminum) to SWA-L (7075-T6 aluminum) Minimum thread engagement of 18 mm (1.5 x fastener Ø)
M12-1.75 Class 12.9
94 Nm
SWS-1210
Mounting conditions Fastener Size and
Property Class
Recommen­ded Torque
SWK-L to RIP (6061-T6 aluminum) Minimum thread engagement of 15 mm (1.5 x fastener Ø)
M10–1.5 Class 12.9
75 Nm
SWK-L to RIP (Steel; USS ≥ 90KSI) Minimum thread engagement of 15 mm (1.5 x fastener Ø)
M10–1.5 Class 12.9
75 Nm
SWA-L (aluminum) to End-Effector Interface Plate (6061­T6 aluminum) Minimum thread engagement of 15 mm (1.5 x fastener Ø)
M10–1.5 Class 12.9
52 Nm
SWA-L (aluminum) to End-Effector Interface Plate (7075­T6 aluminum) Minimum thread engagement of 15 mm (1.5 x fastener Ø)
M10–1.5 Class 12.9
52 Nm
Page 21
Installation
21
5.1 SWK-L
The SWK-L is attached to the robot arm. (SWS-L-1210: The SWK-L is attached to the robot interface plate (RIP), and both are bolted to the robot arm. The RIP is designed with mounting features such as a boss and/or bolt and dowel holes.) The SWK-L is designed with mounting features such as a boss and/ or bolt and dowel holes. These features are used to accurately po­sition and secure the SWK-L to the robot. A robot interface plate (RIP) is utilized to adapt the SWK-L to a specific robot flange that is not compatible with the SWK-L mounting features. Custom RIPs are available upon request.
Mounting Fastenres and
Dowel Pin
Customer Supplied
Tool Interface Plate,
Fasteners and Dowel Pins
Customer Supplied
Robot Arm
SWK-L
SWA-L
Typical Installation SWS-L-210, 310, 510
Robot Interface Plate
With Fasteners and
Dowel Pins
Tool Interface Plate
(Fasteners and Dowel Pins
not Shown)
Robot Wrist Flange
SWK-L with Fasteners to Robot Interface Plate
SWA-L, with Fasteners to Tool Interface Plate
Typical Installation SWS-L-1210
If the customer chooses to design and build a robot interface plate, the following should be considered:
• The interface plate should be designed to include bolt holes for mounting, dowel pins and a boss for accurate positioning on the robot and SWK-L
• The thickness of the interface plate must be great enough to provide the necessary thread engagement for the mounting bolts.
Page 22
Installation
22
• The interface plate must be properly designed to provide rigid mounting to the SWK-L boss area.
• The plate design should take into account clearances required for tool changer module attachments and accessories.
5.2 SWA-L
The SWA-L is attached to customer-supplied tooling. The SWA-L is designed with mounting features such as a bolt and dowel holes. These features are used to accurately position and secure the end­effector. Most often an End- effector Interface Plate (EIP) is util­ized to adapt the SWA-L to an end-effector that is not compatible with the SWA-L mounting features. Custom End-effector Interface Plates can be supplied by SCHUNK to meet customer requirements (refer to the drawings "Typical Installation" in the section above).
When the customer chooses to design and build an End- effector Interface Plate, the following should be considered:
• The interface plate should be designed to include bolt holes for mounting, dowel pins, and a boss that mates with SWA-L body recess for accurate positioning.
• SWS-L-310: When using a locating boss, the race cover must be removed.
• SWS-L-210: The locating boss height should not exceed 6.3mm. If necessary, the race cover can be removed to allow for addi­tional boss height.
• The thickness of the interface plate must be great enough to provide the necessary thread engagement for the mounting bolts.
• The plate design should take into account clearances required for SWS-L attachments and accessories.
• The End- effector Interface Plate should be designed with a hole in its center to allow for manually returning the locking mechan­ism to the unlocked position under adverse conditions (i.e. un­intended loss of power and/or air pressure). The center access hole should be kept small (minimum recommended hole dia­meter: 25.4 mm) to prevent debris from contaminating the locking mechanism while operating in dirty environments. Even greater protection will result if the standard race cover with re­movable access plug is used. Note: Thru hole diameter in plate:
14.3 mm. Grommet outside diameter: 22.5 mm.
• SWS-L-1210: The End- effector Interface Plate should be de­signed with a set of holes in the center of each of the three lock­ing mechanisms to allow for manually returning the locking mechanisms to the unlocked position under adverse conditions (i.e., unintended loss of power and/or air pressure). The center access holes should be kept small (recommended hole dia­meter: 25.4mm) to prevent debris from contaminating the lock­ing mechanism while operating in dirty environments.
Page 23
Installation
23
5.3 Tool Stand Design
NOTICE
Tool stand design is critical to proper operation of the SWS-L. Im­properly designed tool stands can cause misalignments that will cause jamming and/or excessive wear of SWS-L components.
SWS-L-1210: Z-Compliance is required for the Tool Stand, in or-
der to ensure that the SWK-L remains fully contacted with the SWA-L prior to issuing the Unlock command.
NOTICE
During coupling and lock-up the tool stand must allow for movement (float) in a plane parallel to the mating surfaces of the SWK-L and SWA-L, and in a direction perpendicular to this plane, towards the SWK-L.
In most cases, the SWA-L are stored in a Tool Stand when not be­ing used by the robot. During coupling and lock-up, the Tool Stand must allow for movement (float) in a plane parallel with the mat­ing surfaces of the SWK-L and SWA-L (X and Y directions). Even slight misalignment between the SWK-L and SWA-L can generate high forces during lockup if the SWA-L is not allowed to float into place during lock-up. These high forces can cause excessive wear and even jamming of the end-effector and robot. The degree of float required depends on the accuracy of the robot’s positioning and the repeatability of the SWA-L location in the Tool Stand dur­ing lock-up. See following Figure and Table for recommended max­imum allowable float (offsets) prior to coupling. The Tool Stand should be designed to minimize misalignment during coupling and uncoupling. In some cases, greater offsets than shown in the Table can be accommodated by the SWK-L and SWA-L, but will increase wear.
Ideally, the SWA-L should be hanging vertically in the tool stand so that gravity acts to uncouple the SWA-L from the SWK-L during un­locking.
SWS-L-1210:, the Tool stand should have compliance in the Z dir­ection. The robot should be programmed to fully seat the SWA-L in the Tool Stand before issuing the Unlock command. The Unlock sensors need to be active before pulling the SWK-L away.
It is possible to design Tool Stands that hold SWA-L in the hori­zontal position, but care must be taken that the necessary compli­ance is provided during coupling and uncoupling. In general, “hori­zontalposition” Tool Stands cause more wear on the locking mech­anism and locating features of the SWA-L and Tool Stand.
Page 24
Installation
24
Lock-up should occur with the SWK-L in the No-Touch™ locking zone (see following table), but not touching the SWK-L. As locking occurs, theSWK-L should draw the SWA-L into the locked position.
Tool Stands may also need to incorporate means for covering tools and electrical modules to protect them in dirty environments, such as grinding or welding. Alternatively, locating Tool Stands in areas shielded from weld spatter, fluids, adhesives, or other debris would eliminate the need for tool covers.
SWK-L
SWA-L
Twisting
Cocking Offset (About X and Y)
X, Y and Z Offset
Offset Definitions
Maximum Recommended Offsets Prior to Coupling
Model No-Touch™ Zone Z
Offset (Max)* (mm)
X and Y Offset (Max)** (mm)
Cocking Offset (Max) (degrees)
SWS-L-210 2.5 ±2 ±1 SWS-L-310 2.5 ±2 ±1 SWS-L-510 2.5 ±2 ±1 SWS-L-1210 1 ±2 ±1
* Maximum values shown. Decreasing actual values will minimize wear during coupling/
uncoupling.
** Actual allowable values may be higher in some cases but higher offsets will increase
wear during coupling.
Page 25
Operation
25
6 Operation
The SWK-L locking mechanism is pneumatically driven to couple and uncouple with the bearing race on the SWA-L. The SWK-L util­izes air ports from a signal control module or air supply block to provide lock and unlock pressure to the locking mechanism.
CAUTION
Safe, reliable operation of the Tool Changer is dependent on a continuous supply of compressed air at a pressure of 4,1 bar to 7 bar [SWS-L-1210: 4,9 bar to 6,9 bar]
Robot motion should be halted if the air supply pressure drops below 4,1 bar [SWS-L-1210: 4,9 bar] for any reason.
NOTICE
All SWS-L are initially lubricated using MobilGrease® XHP222 Special grease.
• The end user must apply additional lubricant to the locking
mechanism components and alignment pins prior to start of ser­vice Cleaning, Lubrication, Adjustment and Replacement. Tubes of lubricant for this purpose are shipped with every SWS-L.
• Note: MobilGrease® XHP222 Special is a NLGI #2 lithium com-
plex grease with molybdenum disulfide.
6.1 Coupling Sequence
NOTICE
Possible damage to the unit and/or the robot, if the locking mechanism is not in unlock position when attemting to couple the SWS-L.
• The locking mechanism must be in the unlock position when
attempting to couple the SWS-L.
Position the SWK-L above the Tool and move the SWK-L into lock­ing position. When using electrical feed-through-modules the voltages from 24 V have to be switched off prior to coupling. Con­tacts could be damaged due to sparking. Coupling without power shutdown may shorten the life extremely. The mating surfaces of the SWK-L and Tool should be parallel and not touching. Make sure that the tapered alignment pins from the SWK-L enter the alignment holes on the Tool. The alignment pins should be relat­ively concentric with the alignment holes such that they do not rub against the edge.
Page 26
Operation
26
The locking mechanism allows the SWK-L to “pull up” the Tool with relatively large gaps between the two sides. It is recommended that the mating faces of the SWK-L and Tool not be touching, but be within 1 mm of each other when coupling to minimize stress and wear on the locking mechanism.
RTL (Ready-To-Lock) sensing is built into the tool changer, provid­ing the ability to sense Tool proximity to the SWK-L prior to lock­ing. The mating faces of the SWK-L and Tool must be positioned within approximately 1.40–1.65 mm [SWS-L-510: 0.50–0.75 mm] of each other for the sensors to detect Tool presence. RTL signals are not required to couple the tool changer, but are recommended as a further confirmation of coupling prior to removing the Tool from the tool stand.
NOTICE
No-TouchTM locking technology allows the unit to couple with a separation distance between the SWK-L and Tool. Direct contact of the SWK-L and SWA-L mating surfaces is not suggested or re­quired just prior to coupling. (SWS-L-1210: ONLY if Z compliance is built in to the Tool Stand.) Contact may result in damage to the unit and/or the robot.
Verify that the RTL signals are read as “on” (true). Turn the Lock command on. Air is supplied to the locking mechan-
ism to couple the SWS-L. SWS-L-1210: Turn the Unlatch output off. Turn the Latch output
on. Air is supplied to the locking mechanism to couple the SWS-L. A sufficient delay must be programmed between the Lock com-
mand being activated and reading the state of the Locked/Un­locked signals, so that the locking process is completed before checking the locked state.
Read the Locked and Unlocked signals. The Locked signal should read “on” (true) and the Unlocked signal
should read “off” (false). If the locking mechanism has been actuated and both the Locked
and Unlocked signals are read as “off” (false), then a “missed tool” condition has occurred (for example, the SWA-L is not in the stand or is not positioned properly). In this case, an error should be gen­erated and the robot program halted. The situation requires manual inspection to determine the cause of the problem.
The locking mechanism must be in the unlocked state before an­other attempt is made to couple or damage could occur to the ro­bot and/or the SWS-L.
Page 27
Operation
27
6.2 Fail-Safe Operation
In the event of air supply loss to the locking mechanism the SWS-L
will not uncouple.
A slight separation between the SWK-L and SWA-L occurs just after air loss, but at this point the locking balls become trapped and can­not move without air pressure being applied to the unlock port. This feature provides the SWS-L with a fail-safe mechanism.
The patented fail-safe design prevents the SWA-L from being re­leased in the event of air-pressure loss to the Lock port, thereby increasing safety and reliability. Positional accuracy may not be maintained during air loss but will be regained once air pressure is reestablished to the Lock port.
NOTICE
Possible damage to the locking mechanism
• Do not use the SWS-L in the fail-safe condition for extended
periods of time. Do not transport the SWS-L in the fail-safe condition.
6.3 Uncoupling
The SWS-L should be positioned in the Tool Stand in the same loc­ation as when coupling took place. When using electrical feed­through-modules the voltages from 24 V have to be switched off prior to uncoupling. Contacts could be damaged due to sparking. Uncoupling without power shutdown may shorten the life ex­tremely.
SWK-L-1210: Verify that the Tool is FULLY secured and seated in the Tool Stand. Z-compliance is required for the Tool Stand in or­der to ensure reliable Unlocking sequence. Once you have verified that the SWA-L is FULLY secured in the Tool Stand, turn the Latch output off.
NOTICE
This SWS-L may be equipped with a Tool Stand Interlock (TSI) feature that physically breaks the unlock solenoid circuit. Use of the TSI will prevent any unwanted unlock software commands from being recognized until the circuit is made.
• See user manual of the respective control module for details
and troubleshooting.
Page 28
Operation
28
SWS-L-210-510: Turn the Lock output off (for double solenoid valve versions).
SWS-L-210: Issue the Unlock output. / SWS-L-310, 510: Issue the Unlock command. / SWS-L-1210: Issue the Unlatch output. Air is supplied to the locking mechanism to uncouple the SWS-L.
A sufficient delay must be programmed between the Unlock out­put being activated and reading the state of the Lock/Unlock sig­nals, so that the coupling process is completed before checking the Locked state.
Read the Locked and Unlocked signals. The Unlock signal should read “on” (true) and the Lock signal
should read “off” (false). Any other condition indicates a problem and the robot program should be halted.
Once the Lock and Unlock signals are verified to be in the proper state the SWK-L may be moved away from the SWA-L in the axial direction.
SWS-L-1210: Check to verify that the RTLs are all “off” (false) after the SWK-L moves away from the SWA-L.
The robot and SWK-L can now proceed to another SWA-Lfor coup­ling and subsequent operations.
Page 29
Operation
29
6.4 Integrated Sensors (SWS-L-1210)
The SWK-L-1210 has a total of 6 proximity sensors for detecting the Lock and Unlock state of the SWS-L. For each locking mechan­ism there is one Lock sensor and one Unlock sensor. Each sensor pair is distinguished by the corresponding locking mechanism. For example, locking mechanism #1 has “L1” (Lock sensor #1) and “U1” (Unlock sensor #1). Also, to eliminate confusion, the SWK-L body, sensor cables, and junction module connectors are labeled the same way (L1, U1, L2, U2, L3, and U3).
SWK-L 1210
U1
RS1
L1
Flat A / Control Module
U3
RS3
L3
Lock and Unlock sensors. "L2" and "U2" not visible in this view
Inside the junction module, all 3 Lock sensors are wired in series which provides for one Locked signal via the connector labeled “L”. The 3 Unlocked sensors are also wired in series within the junction module which provides for one Unlocked signal via the connector labeled “U”. Cables connect the “L” and “U” connectors of the junction module to the “L” and “U” connectors of the control mod­ule.
Control Module
SWK-L-1210
U2
U1, L1, U2, and L2
(not visible in this view)
Junction
Module
R1, R2, U and L
RS3
L2
U3, L3, U and L
Connector view
The following figure and table show the cables pertaining to the Lock and Unlock sensors. From the factory, the cables will be labeled to match where they are connected.
Page 30
Operation
30
Junction
Module
Air Valve
Control/Signal
Module
Air Valve
Control/
Signal
Module
Lock & Unlock Sensor Cables
RTL Sensor Cables
Sensor Cable Routing
Sensor Cable Routing
Lock/Unlock Sensor
ID
Junction Module
Connector
#
# L1 L2 L3 U1 U2 U3
<3> <3> <3> <3> <3> <3>
<4> <5> <4> <4> <5> <4>
L1 L2 L3 U1 U2 U3
L U
#
<6> <6>
L U
R1
R2
9121-XXX-M
Control Module
Connector
<1>
<2>
#
RS1
RS2
RS3
RTL Sensor ID
The SWK-L-1210 has 3 RTL sensors. They are designated as “RS1”, “RS2”, and “RS3”. Sensors “RS1” and “RS2” are wired in series (by means of a splitter cable) and in this way provide the control module with a single “R1” signal. Only when “RS1” and “RS2” are both triggered will a Tool presence signal occur at “R1”.
The third RTL sensor, “RS3”, is connected directly to the control module at “R2” to give a second Tool presence signal. show the cables pertaining to the RTL sensors. The labels on the cables indic­ate which sensors the cables are connected to.
Page 31
Troubleshooting
31
7 Troubleshooting
Check these conditions for all symptoms prior to troubleshooting:
• Proper pneumatic and electrical connections have been made to the SWS-L.
• Air is supplied at a minimum of 5 and a maximum of 6,9 bar.
• No air or vacuum can be trapped in a de-energized Lock or Un­lock port (pressure must be vented to atmosphere).
SWS-L-210, 310, 510
Symptom Cause Resolution
Unit will not lock or unlock
The ball bearings and/or cam are not moving freely in the male coup­ling.
Clean and lubricate as needed to restore smooth operation Maintenance.
The control module is not operating correctly.
Check the troubleshooting section of the manual for the specific module.
The SWK-L and SWA-L are not within the specified No-Touch zone when at­tempting to lock.
Check that the Tool is properly seated in the Tool Stand. Re-teach the robot to bring the SWK-L and SWA-L closer together prior to attempting to lock.
Ready-To-Lock (RTL) sensors not activated in­dicating Tool is not posi­tioned properly
Check that the SWA-L is properly seated in the tool stand. Re-teach the robot to bring the SWK-L and SWA-L closer together prior to attempting to lock. Check that both RTL sensors are not damaged. Replace damaged RTL sensors as necessary. Check all cables for damage and that they are connected properly to the signal control mod­ule. Replace damaged cables as necessary.
SWS-L-310 and 510
Symptom Cause Resolution
Unit is locked but Lock signal does not read “on” (true).
Lock sensor is damaged. Replace Lock sensor or Sensor Assembly as ne-
cessary Maintenance.
Lock sensor is out of posi­tion.
Replace the Lock sensor or Sensor Assembly as necessary.
Unit is un­locked but Un­lock signal does not read “on” (true).
Unlock sensor is damaged Replace Unlock sensor Or Sensor Assembly as
necessary Maintenance.
Unlock sensor is out of position
Replace Unlock sensor or Sensor Assembly as necessary.
Page 32
Troubleshooting
32
SWS-L-210
Symptom Cause Resolution
Unit is locked but Lock signal does not read “on” (true).
Lock sensor/cable is dam­aged.
Units using individual Sensors: Replace Lock sensor/cable as necessary Maintenance.
Units using Sensor Assemblies: Replace the lock sensor sub-assembly as necessary.
Lock sensor is out of posi­tion.
Units using individual Sensors: Adjust Lock sensor using procedure in Maintenance.
Units using Sensor Assemblies: Replace the lock sensor sub-assembly as necessary.
Unit is un­locked but Un­lock signal does not read “on” (true).
Unlock sensor/cable is damaged.
Units using individual Sensors: Replace Unlock sensor/cable as necessary Maintenance.
Units using Sensor Assemblies: Replace the unlock sensor sub-assembly as necessary.
Unlock sensor is out of position
Units using individual Sensors: Adjust Unlock sensor using procedure in Maintenance
Units using Sensor Assemblies: Replace the unlock sensor sub-assembly as necessary.
SWS-L-1210
Symptom Cause Resolution
Unit will not Lock or Unlock or the locking mechanisms are jammed.
The ball bearings and/or cam are not moving freely in the male coup­ling.
Clean and lubricate as needed to restore smooth operation Maintenance.
The SWK-L and SWA-L are not within the specified No-Touch zone when at­tempting to Lock.
Check that the SWA-L is properly seated in the Tool Stand. Reteach the robot to bring the SWK-L and SWA-L closer together before at­tempting to Lock.
SWK-L and SWA-L are not parallel (all three RTL sensors are not on when trying to lock).
Check that the SWA-L is properly seated in the Tool Stand. Reteach the robot to bring the SWK-L and SWA-L closer together and parallel prior to attempting to Lock.
Verify RTLs (RS1, RS2, and RS3) are all on.
SWA-L Drop-off Distance is too large.
Check that the SWA-L is properly positioned in the Tool Stand and the SWA-L is fully seated. Check that the UNLATCH command is not being issued with the SWA-L sitting above the Tool Stand and the robot is not trying to “drop” the SWA-L into the nest.
Page 33
Troubleshooting
33
Symptom Cause Resolution
Unit is fully locked but Locked input to control module is not ON
Individual Lock sensor/ cable damage.
Check LED light on each of the three Lock sensors.
If OFF check for cable damage and a secure connection to the junction module. Replace sensor and/or cable as needed.
Main Lock sensor/cable damage.
are on, check the main Lock cable connecting the junction module and control module. NOTE: Individual sensors are wired in series in the junction module. All sensors must be “on” to get the main Lock input “on”.
Check for cable damage and a secure connec­tion to control module. Replace as needed.
Junction Module failure. If individual Lock sensors/cables and main Lock
cable are found to be good, replace junction module.
Unit is fully un­locked but Un­lock input to control module is not ON.
Individual Unlock sensor/ cable damage.
Check LED light on each of the three Unlock sensors.
If OFF check for cable damage and a secure connection to the junction module. Replace sensor and/or cable as needed.
Main Unlock sensor cable damage.
If all individual Unlock sensor LEDs are on, check the main Unlock cable connecting the junction module and control module. NOTE: In­dividual sensors are in series in the junction module. All sensors must be “on” to get the main Unlock input “on”.
Check for cable damage and a secure connec­tion to control module. Replace as needed.
Junction Module failure. If individual Unlock sensor/cables and main Un-
lock cable are found to be good, replace con­trol module.
R1 input (RS1 and RS2 sensors) not on.
SWK-L not in position. Reprogram pick-up point so SWK-L and SWA-L
are parallel and within 1 mm of each other.
Sensor/cable damage. Check the RS1 and RS2 sensor faces and cables
for damage. Replace if necessary. NOTE: These sensors are wired in series in the
cable harness. Both sensors must be “on” to get the R1 (RTL1) input “on”.
Check splitter cable from R1 connector at the control module to RS1 and RS2 sensors. Re­place as needed.
Page 34
Troubleshooting
34
Symptom Cause Resolution
R2 input (RS3 sensor) not on.
SWK-L not in position at Pickup.
Reprogram pick-up point so SWK-L and SWA-L are parallel and within 1 mm of each other.
Sensor/cable damage. Check the RS3 sensor face for damage. Replace
if necessary. Check cable between RS3 sensor and the R2
connector at control module for damage and replace as needed.
Page 35
Maintenance and Care
35
8 Maintenance and Care
NOTE
The cleanliness of the work environment strongly influences the error-free operation of the change system. If the work environ­ment is prone to heavy contamination, it is very important that the entire unit is protected from contamination with appropriate measures.
Protective measures:
• Locate toolholders at a distance from sources of dust
• Include protective equipment in the storage rack (install de­flectors, air curtains or similar equipment on the unit Require­ments of the storage magazine)
8.1 Preventive Maintenance
The Tool Changer and optional modules are designed to provide a long life with regular maintenance.
A visual inspection and preventive maintenance schedule is provided in the table below depending upon the application.
Detailed assembly drawings, Assembly drawings [}52].
NOTE
All Tool Changers are initially lubricated using MobilGrease® XHP222 Special grease. The end-user must apply additional lubric­ant to the locking mechanism components and alignment pins prior to start of service Link Schmierstoffe/Schmierstellen.
For this purpose, tubes of lubricant are shipped with every Tool Changer.
NOTE:
MobiGrease® XHP222 Special is a NLGI#2 lithium complex grease with molybdenum disulfide.
Page 36
Maintenance and Care
36
Schedule
Application(s) Tool Change Frequency Inspection Schedule
General Usage Material Handling Docking Station
> 1 per minute Weekly
General Usage Material Handling Docking Station
< 1 per minute Monthly
Welding/Servo/Deburring Foundry Operations (Dirty Environments)
All Weekly
Checklist
Balls/Alignment Pins/Holes/Bearing Race
Inspect for lubrication and wear. A NLGI #2, lithium-based grease with molybdenum disulfide additive is suggested for locking mechan­ism and alignment pin lubrication. Over time, lubricants can become contaminated with process debris. Therefore, it is recommended to thoroughly clean the existing grease and replace with new as needed. Link Schmierstoffe/Schmierstellen.
Excessive alignment pin/bushing wear may be an indication of poor robot position during pickup/drop-off. Adjust robot position as needed. Check Tool Stand for wear and alignment problems.
Wear on the balls/bearing race could be an indication of excessive loading.
Mounting Hard­ware / /Interface Connec­tions
Inspect for proper torque and interference or wear, abrasions, cuts of hoses, and electrical cables. Tighten and correct as required.
Seals Inspect for wear, abrasion, and cuts.
Exposed O-rings and rubber bushings may be subject to damage dur­ing normal operation. Replace damaged o-rings and rubber bushings as needed.
Sensors and Cables Inspect sensor cables and connectors for any damage, cuts, and ab-
rasion.
Electrical Contacts/ Pin Block (Modules)
Inspect for wear and abrasion. Exposed contacts may be subject to damage during normal opera-
tion. Clear debris from the area of the contacts using compressed air. Do not directly clean contacts as abrasion may occur and the per-
formance of the contact may be compromised.
Page 37
Maintenance and Care
37
8.2 Cleaning, Lubrication, Adjustment and Replacement
8.2.1 Cleaning and Lubrication of the Locking Mechanism
8.2.1.1 Cleaning and Lubrication of the Locking Mechanism and Alignment Pins
Cleaning balls and outer surfaces of male coupling
Cleaning balls, cam an inner surfaces of male coupling
Ø The locking mechanism must be in the unlock state before
cleaning.
Ø Use a clean rag to thoroughly remove the existing lubricant and
debris from the balls, the male coupling, the cam and the align­ment pins.
Ø Check each ball to make sure it moves freely in the male coup-
ling. Additional cleaning may be necessary to free up any balls that are sticking in place.
Page 38
Maintenance and Care
38
Ø Apply a liberal coating of lubricant to the balls, the male coup-
ling (inside and out), and the alignment pins.
8.2.1.2 Cleaning the Bearing Race and Alignment Pin Bushings (SWA)
1. Use a clean rag to thoroughly remove any lubricant and debris
from the bearing race and the bushings.
2. No re-lubrication is necessary on the SWA components.
Page 39
Maintenance and Care
39
8.2.2 Lock and Unlock Sensor Assembly Replacement
8.2.2.1 SWS-L-210
Sensor types
Determine what type of sensors the SWS-L uses:
Units using Sensor Assemblies
Units using Individual Sensors
NOTE
Turn air off before servicing sensors.
Units using Sensor as­semblies
Lock and Unlock Sensor Assembly Replacement
Ø Unscrew the sensor cable connector from the control/signal
module.
Ø If present, remove the module(s) on the flat D. Ø Remove the two M3 socket head cap screws that secure the as-
sembly to the SWK-L body.
Ø Slide the sensor assembly out and discard. Visually check that o-
ring around sensor was removed with assembly.
CAUTIONThe Lock and Unlock sensor assemblies are precision aligned and permanently assembled at the factory. Do not at­tempt to disassembled and re-build.
Ø Apply Loctite 222MS to the new M3 socket head cap screws
supplied with the new sensor assembly.
Ø Attach the new assembly to the SWK-L body by tightening the
M3 screws to 1.36 Nm of torque.
Ø Re-attach cables and modules.
Page 40
Maintenance and Care
40
Ø Confirm operation of the Unlock sensor by issuing the Unlock
command and then checking to see that the LED in the Unlock sensor body is on.
Ø Confirm operation of the Lock sensor by issuing the Lock com-
mand to lock a Tool to the SWK-L and then checking to see that the LED in the Lock sensor body is on.
Units using indidivual sensors
Lock sensor assembly
Unlock sensor assembly
Lock and Unlock sensor assemblies SWS-L-210
Ø Unscrew the sensor cable connector from the control/signal
module.
Ø For Lock sensor assembly replacement, remove any modules
mounted on Flat D. For Unlock sensor assembly replacement, remove any modules mounted on both Flats C and D.
Ø Remove the two M4 socket head cap screws that secure the as-
sembly to the SWK-L Body.
CAUTIONThe Lock and Unlock sensor assemblies are precision aligned and permanently assembled at the factory. Do not at­tempt to disassemble and rebuild. Over-tightening the proxim­ity sensor on the jam nut will cause severe damage to the SWK-L.
Ø Slide the sensor assembly out and discard. Ø Apply Loctite 222MS to the new M4 socket head cap screws
supplied with the new sensor assembly.
Ø Attach the new assembly to the SWK-L body by tightening the
M4 screws to 3.39 Nm of torque.
Ø Re-attach cables and modules. Ø Confirm operation of the Unlock sensor by issuing the Unlock
command and then checking to see that the LED in the Unlock sensor body is on.
Ø Confirm operation of the Lock sensor by issuing the Lock com-
mand to lock a SWA-L to the SWK-L and then checking to see that the LED in the Lock sensor body is on.
Page 41
Maintenance and Care
41
8.2.2.2 SWS-L-310 (Model Designator: SWK-L-310DM-...SM)
Lock and Unlock Sensor Assembly Replacement
1. Unscrew the sensor cable connector from the control/signal
module.
2. If present, remove the module(s) on the flat D.
3. Remove the two (2) M3 socket head cap screws that secure the
assembly to the SWK-L body.
4. Slide the sensor assembly out and discard. Visually check that o-
ring around sensor was removed with assembly.
NOTICE
The Lock and Unlock sensor assemblies are precision aligned and permanently assembled at the factory. Do not attempt to disassembled and re-build.
5. Apply Loctite 222MS to the new M3 socket head cap screws
supplied with the new sensor assembly.
6. Attach the new assembly to the SWK-L body by tightening the
M3 screws to 1.36 Nm of torque.
7. Re-attach cables and modules.
8. Confirm operation of the Unlock sensor by issuing the Unlock
command and then checking to see that the LED in the Unlock sensor body is on.
9. Confirm operation of the Lock sensor by issuing the Lock
command to lock a SWA-L to the SWK-L and then checking to see that the LED in the Lock sensor body is on.
Page 42
Maintenance and Care
42
8.2.2.3 SWS-L-310 and 510
• SWS-L-310: Units using a dual-sensor assembly P/N: 9951094
Set for INB 310 U/L incl. plate for preadjusting
• SWS-L-510: Units using Lock/Unlock sensor assembly P/N:
9005-20-1339 (PNP)
Lock/Unlock sensor assembly
Lock/Unlock sensor assembly SWS-L-310
Lock/Unlock sensor assembly
Lock/Unlock sensor assembly SWS-L-510
NOTICE
The Lock/Unlock sensor assembly is precision aligned and per­manently assembled at the factory. Do not attempt to disas­semble and re-build.
SWS-L-310: Over tightening the proximity sensor or the jam nut will cause severe damage to the SWK-L.
Ø Unplug the sensor cable connectors from lock and unlock sensors. Ø Remove the two M4 socket head cap screws that secure the as-
sembly to the SWK-L body.
Ø Slide the sensor assembly out and discard.
Page 43
Maintenance and Care
43
Ø Apply Loctite 222MS to the M4 socket head cap screws supplied
with the new sensor assembly.
Ø Slide the assembly into position and secure it to the SWK-L body
by tightening the M4 screws to 3.39 Nm of torque.
Ø Re-attach cables. Ø Confirm operation of the Unlock sensor by issuing the Unlock com-
mand and verifying that the LED in the Unlock sensor body is on.
Ø Confirm operation of the Lock sensor by issuing the Lock com-
mand to lock a Tool to the SWK-L and verifying that the LED in the Lock sensor body is on.
8.2.2.4 SWS-L-1210
Lock Sensor
Assembly (3 Places)
Unlock
Sensor Assembly (3 Places)
Lock and Unlock Sensor Assemblies SWS-L-1210
NOTICE
The Lock and Unlock sensor assemblies are precision aligned and per­manently assembled at the factory. Do not attempt to adjust the po­sition of the sensor or severe damage to the SWK-L may occur.
Ø Unscrew the sensor cable connector from the extension cable. Ø Remove the two M3 socket head cap screws that secure the as-
sembly to the SWK-L body.
Ø Slide the sensor assembly out and discard. Ø Apply Loctite 222MS to the new M3 socket head cap screws
supplied with the new sensor assembly.
Ø Check that the new sensor assembly has the o-ring present and
that the old oring came off of the SWK-L with the old sensor as­sembly. Attach the new assembly to the SWK-L by tightening the M3 screws to 1.36 Nm.
Ø Re-attach cables and modules. Ø Confirm operation of the Unlock sensor by issuing the Unlatch
command and then checking to see that the LED in the Unlock sensor body is on.
Page 44
Maintenance and Care
44
Ø Confirm operation of the Lock sensor by issuing the Latch com-
mand to lock a Tool to the SWK-L and then checking to see that the LED in the Lock sensor body is on.
8.2.3 Lock/Unlock Sensor Adjustment and Replacement (Units using individual sensors)
8.2.3.1 SWS-L-210
NOTICE
Over tightening the proximity sensor or the jam nut will cause severe damage ! to the SWK-L.
NOTE
When adjusting the lock sensor the SWK-L must be locked to the Tool. When adjusting the unlock sensor the SWK-L must be separ­ated from the Tool and in the unlocked condition.
Lock sensor
Jam nut
Unlock sensor
Jam nut
Individual Lock and Unlock sensors SWS-L-210
Ø Loosen jam nut with slotted 13mm socket or standard pliers. Ø Turn proximity sensor clockwise until the LED in the sensor body
comes on.
Ø Turn the proximity sensor clockwise another 1/4 turn (90°). Ø Tighten jam nut to 2.26 Nm of torque.
Page 45
Maintenance and Care
45
8.2.3.2 SWS-L-310 and 510
NOTICE
Over tightening the proximity sensor or the jam nut will cause severe damage ! to the SWK-L.
NOTE
• Do not undertake this adjustment until proper operation of the sensor has been confirmed. This requires removing the sensor from the SWK-L and testing it separately from the EOAT.
• When adjusting the lock sensor the SWK-L must be locked to the Tool.
• When adjusting the unlock sensor the SWK-L must be separated from the Tool and in the unlocked condition.
Unlock sensor
Jam nut
Lock sensor
Jam nut
Lock and Unlock sensors in body - SWS-L-310
Unlock sensor
Jam nut
Lock sensor Jam nut
Lock and Unlock sensors in body - SWS-L-510
Ø Loosen jam nut with 13mm socket or standard pliers. Ø Turn proximity sensor clockwise until the LED in the sensor body
comes on.
Ø Turn the proximity sensor clockwise another 1/4 turn (90°). Ø Tighten jam nut to 2.26 Nm of torque.
Page 46
Maintenance and Care
46
8.2.4 RTL Sensor Replacement
8.2.4.1 SWS-L-210
RTL Sensor Replacement (Flat Pack style)
Ø Unscrew the sensor cable connector from the control/signal
module.
Ø Unscrew the M3 socket flat head cap screw that fastens the
sensor to the SWK-L body.
Ø For replacement of the RTL sensor between flats A and B re-
move the cleat assembly on flat A (This may require that the SWK-L be removed from the robot.). For replacement of the RTL sensor between flats A and B remove the module and cable re­taining tabs mounted on flat D.
Ø Remove the sensor/cable assembly from the SWK-L and discard. Ø Install the new sensor/cable assembly. Use Loctite 222MS on
the screws securing the sensors and the cable retaining tabs.
Ø Re-attach cables and modules. Ø Confirm operation of the new sensor by bringing a metallic ob-
ject into close proximity to the face of the sensor and watching for the LED in the body of the sensor to come on.
RTL Sensor Replacement (8mm Threaded Barrel Style)
Ø Unscrew the sensor cable connector from the control/signal
module.
Ø Remove the cleat assembly on flat A (This may require that the
SWK-L be removed from the robot.).
Ø Loosen the jam nut securing the sensor to the SWK-L body Ø Remove the sensor/cable assembly from the SWK-L and discard. Ø Screw the new sensor/cable assembly into the SWK-L body until
the face of the sensor is flush with the surrounding face of the SWK-L body. Use a slotted socket and a torque wrench to tighten the jam nut to 20 in-lbs of torque.
Ø Re-install the cleat on flat A. Use Loctite 222MS on the screws. Ø Re-attach the cable connector to the control/signal module. Ø Confirm operation of the new sensor by bringing a metallic ob-
ject into close proximity to the face of the sensor and watching for the LED in the body of the sensor to come on.
Page 47
Maintenance and Care
47
8.2.4.2 SWS-L-310 and 510
RTL Sensor (1 of 2)
RTL sensor - SWS-L-310
RTL sensor (1 of 2)
RTL sensor - SWS-L-510
1. Unplug the cable from the RTL sensor.
2. Loosen the jam nut securing the sensor to the SWK-L body.
3. Remove the sensor from the SWK-L and discard.
4. Screw the new sensor into the SWK-L body until the face of the sensor is flush with the surrounding face of the SWK-L body. Use a socket and a torque wrench to tighten the jam nut to 2.26 Nm of torque.
5. Attach the cable to the new RTL sensor.
6. Confirm operation of the new sensor by bringing a metallic object into close proximity to the face of the sensor and watching for the LED in the body of the sensor to come on.
Page 48
Maintenance and Care
48
8.2.4.3 SWS-L-1210
RTL Sensor Replacement (8mm Threaded Barrel Style)
1 of 3 Ready-To-Lock Sensors
Barrel-style RTL sensor - SWS-L-1210
Ø Remove the sensor cable connector from the sensor. Ø Loosen the jam nut securing the sensor to the SWK-L body. Ø Unscrew/remove the sensor from the SWK-L and discard. Ø Screw the new sensor/cable assembly into the SWK-L body until
the face of the sensor is flush with the surrounding face of the SWK-L body. Turn the sensor back ¼ turn. Use a crowfoot and a torque wrench to tighten the jam nut to 2.26 Nm of torque.
Ø Replace the sensor cable if needed. Ø Re-attach the cable connector to the control/signal module. Ø Confirm operation of the new sensor by bringing a metallic ob-
ject into close proximity to the face of the sensor and watching for the LED in the body of the sensor to come on. NOTICE: “R1” consists of sensors “RS1” and “RS2” wired in series. Therefore, a metallic object has to be used at both locations in order to view the LED indicator of either sensor SWS-1210: Integrated Sensors .
Page 49
Maintenance and Care
49
8.2.5 Alignment Pin Replacement
8.2.5.1 SWS-L-210 - 510
Removing the Alignment Pin
4mm
Hex Key
4mm Hex Key - SWS-L-210 - 510
Ø Unscrew the alignment pin sub-assembly from the SWK-L using
a 4mm hex key (see Figure above). Note: If for any reason the pin cannot be removed using the hex socket in the tip, it may be necessary to remove it by other means, such as Vise Grip pliers.
3mm
Hex Key
3mm Hex Key - SWS-L-210
Page 50
Maintenance and Care
50
4mm
Hex Key
4mm Hex Key - SWS-L-310, 510
✓ Another approach would be to use the access hole in the
back side of the SWK-L. In this case, a hex key will be needed ( 3 mm for SWS-210 / 4mm for SWS-310 and 510) (see Fig­ures above).
Ø Once the alignment pin has been removed, verify that the sub-
assembly (pin and set screw) are intact. If the set screw portion of the subassembly did not come out, it will be necessary to re­move it separately using the access hole in the back plate of the SWK-L.
Installing the Align­ment Pin Assembly into the SWS-L
Ø Apply Loctite 242 and install the Alignment Pin Assembly into
the Bushing on the SWS-L. Tighten to 6.78 Nm.
Ø Apply MobilGrease® XHP222 Special grease to the Alignment
Pin Cleaning and Lubrication of the Locking Mechanism
8.2.5.2 SWS-L-1210 (1-1/8” Two Piece Pin Sub-Assembly)
Ø Unscrew the alignment pin sub-assembly from the SWK-L using
a 5mm hex key. Note: If for any reason the pin cannot be re­moved using the hex socket in the tip, it may be necessary to re­move it by other means such as Vise Grip pliers. Another ap­proach is to use the access hole in the back side of the SWK-L. In this case, a 4 mm hex key will be needed.
Ø Once the alignment pin has been removed verify that the sub-
assembly (pin and set screw) is intact. If the set screw portion of the sub-assembly did not come out it will be necessary to re­move it separately using the access hole in the back side of the SWK-L.
Ø Apply Loctite® 242 (or similar thread locking compound) to the
M8 set screw in the new alignment pin.
Ø Install the alignment pin into the bushing and screw it into
place. Apply 60 in-lb of torque to fully tighten it.
Page 51
Maintenance and Care
51
8.3 Recommended Spare Parts
8.3.1 SWS-L-210
Assembly Description
SWK-L Complete SWK-L-210, No Options SWA-L Complete SWA-L-210, No Options Other Sensors 2x Lock and Unlock sensors
1x RTL1 1x RTL2
Alignment Pin 2x Alignment Pin
8.3.2 SWS-L-310
Assembly Description
SWK-L Complete SWK-L-310, No Options SWA-L Complete SWA-L-310, No Options Other Sensors 1x Set
2x RTL 3x Cables with connectors 0,33m 1x Cable with connector 0,4m
Alignment Pin 2x Alignment Pin
8.3.3 SWS-L-510
Assembly Description
SWK-L Complete SWK-L-510, No Options SWA-L Complete SWA-L-510, No Options Other Sensors Sensors complete
Alignment Pin Alignment Pin
8.3.4 SWS-L-1210
Assembly Description
SWK-L Complete SWK-L-1210, No Options SWA-L Complete SWA-L-1210, No Options Other Sensors Sensors complete
Alignment Pin Alignment Pin
Page 52
Maintenance and Care
52
8.4 Assembly drawings
8.4.1 SWS-L-210
Flat D
Flat C
(2) Ø 10 (Slip Fit)
Equally Spaced
Customer Interface
Flat A
Master Side
(projection only)
30°
(10) C'Bored 10.6 Dp.
From Far Side
for M10 SHCS
30° Spacing-Skip Ø10 dowel
Customer Interface
B.C. Ø 125
Flat B
See Note 2
[4.06"]
103.1 Coupled
30
Pin
57.1 SWK-L
46.1 SWA-L
SWK-L Side
SWA-L Side
160
Square
SWK-L
& SWA-L
B.C. Ø 160
Flat A
Ø 12 (Slip Fit), 12 Dp.
Customer Interface
(with air block spacer installed)
Tool Cover
Ø 10 (Slip Fit), 12 Dp.
Customer Interface
30°
(6) Tapped M10X1.5
20 Dp.
Equally Spaced
Customer Interface
Flat B
(4) 30°
(8) Tapped M12X1.75
18 Dp.
Customer Interface
(4) 30°
Customer Interface
B.C. Ø 125
(2) Ø10 (Slip Fit), 20 Dp.
Equally Spaced
Flat C
Ø 100 H7, 8 Dp.
(See Note 1)
Customer Interface
Flat D
SWA-L Side
(projection only)
Scale 1:2.5
Notes:
1) Tool cover must be removed to utilize full depth of this customer interface feature.
With tool cover in place usable feature depth is 2mm.
2) Optional SWK-L side mounting bosses available.
SWS-L 210
Page 53
Maintenance and Care
53
SWK-L-210 Master Assembly
SWK-L-310
SWA-L-210 Tool Assembly
SWA-L-210
Page 54
Maintenance and Care
54
8.4.2 SWS-L-310
244
Square
SWK-L &
SWA-L
See Note 1
Flat A
Ø 12 (Slip Fit)
18 Dp.
Customer Interface
45°
Flat B
B.C. Ø200
Flat C
(10) C'Bored 14.5 Dp.
From Far Side
for M12 SHCS
30° Spacing-Skip Ø 12 Dowel
& Location Opposite
Customer Interface
15°
(12) C'Bored 16.4 Dp.
From Far Side
for M16 SHCS
Equally Spaced
Customer Interface
Flat D
[4.72"]
120
Coupled
47.2
Pin
68.1 SWK-L
52.1
SWA-L
See Note 4
(A)
(B)
Flat B
(2) Ø 12 (Slip Fit)
18 Dp.
Equally Spaced
Customer interface
45°
(6) Tapped M16x2.0
See Table 1 for Thread Depth
Equally Spaced
Customer Interface
Flat A
Tool Cover
B.C Ø200
B.C. Ø 160
Ø125 H7, 5 Dp.
(See Note 3)
Customer Interface
Flat D
(2) Ø10 (Slip Fit)
16 Dp.
Equally Spaced
Customer Interface
45°
Flat C
(10) Tapped M10x1.5, 19 Dp.
30° Spacing
Skip Ø10 Dowels
Customer Interface
(10) Tapped M12x1.75, 20 Dp.
30° Spacing
Skip Ø 12 Dowels
Customer Interface
(Optional Bolt Down Note 2)
30°
Typ.
15°
Scale 1:4
Part Numbers:
(A) SWK-L: 9121-310AMX-0-0-0-0
(B) SWA-L: 9121-310DT-0-0-0-0
Notes:
1) Center Boss inserts available
2) Optional Bolt Down: (10) Holes C'Bored from opposite side 10.2 deep for M10 SHCS.
3) Tool cover must be removed to utilize this customer interface feature.
4) Remove plug if necessary to avoid interface with customer tooling.
Assembly drawing SWS-L 310
Page 55
Maintenance and Care
55
SWK-L-310 Master Assembly
SWK-L-310
SWA-L-310 Tool Assembly
SWA-L-310
Page 56
Maintenance and Care
56
8.4.3 SWS-L-510
Flat D
264
Square
SWK-L &
SWA-L
Flat A
30°
Typ.
15°
(10) C'Bored 15.6 Dp.
From Far Side
for M12 SHCS
30° Spacing-Skip Ø 12 Dowel
& Location Opposite
Customer Interface
Flat B
B.C. Ø200
Flat C
(12) C'Bored 16.4 Dp.
From Far Side
for M16 SHCS
Equally Spaced
Customer Interface
45°
Ø 12 Slip Fit
13 Dp.
Customer Interface
Ø 125
Slip fit
Customer
Interface
6.4 Boss
54.7
Pin
[5.57"]
141.5 Coupled
82.7 SWK-L
58.8 SWA-L
(B)
(A)
30°
Typ.
15°
(5) Tapped M12x1.75
29 Dp.
Equally Spaced
(Counter Clockwise)
Customer Interface
Flat A
(12) Tapped M16x2.0
29 Dp.
Equally Spaced
Customer Interface
Flat D
30°
Typ.
15°
(5) Tapped M12x1.75
29 Dp.
Equally Spaced
(Counter Clockwise)
Customer Interface
(2) Ø12 Slip Fit, 13 Dp.
Equally Spaced
Customer Interface
45°
Flat C
Ø125 H7, 6.5 Dp.
Customer Interface
B.C Ø200
Flat B
SWA-L Side
(projektion only)
Part Numbers:
(A) SWK-L: 9121-510DM-0-0-0-0
(B) SWA-L: 9121-51DT-0-0-0-0
SWK-L Side
(projection only)
Scale 1:4
SWS-L 510
Page 57
Maintenance and Care
57
SWK-L-510 Master Assembly
SWK-L 510
SWA-L-510 Tool Assembly
SWA-L 510
Page 58
Maintenance and Care
58
8.4.4 SWS-L-1210
(4) C'Bored 10.4 Dp.
From Far Side
For M10 SHCS
Customer Interface
137.2
30°
87.6
15°
(2) R113.5
(2) C'Bored 10.4 Dp.
From Far Side
For M10 SHCS
Customer Interface
250
158.4
28°
14°
(10) C'Bored 10.6 Dp.
From Far Side
For M10 SHCS
30° Typ. Spacing
Pattern (3) Places
Customer Interface
B.C. Ø125
(3) Places
Customer Interface
45.7
15°
(2) Ø12(Slip Fit)
13.5 Dp.
Customer Interface
30°
(4)R115.5
(A)
68.1 SWK-L
[4.81"]
122.2 Coupled
54.1 SWA-L
(B)
Slide View
(Uncoupled)
SWK-L Side
(projection only)
81.3
(35.6)
B.C Ø91
(3) Places
Customer Interface
(12) C'Bored 41.9 Dp.
From Far Side
For M10 SHCS
Equally Spaced
Pattern (3) Places
Customer Interface
15.8.4
SWA-L Side
(projection only)
Ø359
SWK-L & SWA-L
87.6
137.2
305
SWK-L & SWA-L
123.2
351
SWK-L & SWA-L
Part Numbers:
(A) SWK-L: 9121-1210AM-0-0-0-0-0-0
(B) SWA-L: 9121-1210AT-0-0-0-0-0-0
Flat B
Flat C
Flat D
Flat A
Flat F
Flat E
Flat D
Flat A
Flat C
Flat B
Notes:
1. Tool Changer consists of three locking mechanisms and share a common lock
and unlock air supply.
2. Tool Changer capable of detecting 'Lock' and 'Unlock' for each locking mechanism.
3. Tool Changer capable of detecting 'RTL' (Ready-to-Lock) using (3) proximity sensors.
SWS-L 1210
Page 59
Maintenance and Care
59
SWK-L-1210 Master Assembly
SWK-L 1210
SWA-L-1210 Tool Assembly
SWA-L 1210
Page 60
Translation of original declaration of incorporation
60
02.00 | SWS-L | Assembly and operating manual | en | 0389037
9 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:
Heavy Load Change System / SWS-L
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.
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 AnnexVII, 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, November 2018 p.p. Ralf Winkler,
Manager for development
of gripping system components
Page 61
Translation of original declaration of incorporation
61
9.1 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 Heavy Load Change System Type designation SWS-L
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
1.3.6 Risks related to variations in operating conditions X
Page 62
Translation of original declaration of incorporation
62
1.3 Protection against mechanical hazards
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
Page 63
Translation of original declaration of incorporation
63
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
X
2.1 Foodstuffs machinery and machinery for cosmetics or pharmaceutical products
X
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
X
3 Supplementary essential health and safety requirements to offset haz-
ards due to the mobility of machinery
X
4 Supplementary essential health and safety requirements to offset haz-
ards due to lifting operations
X
5 Supplementary essential health and safety requirements for machinery
intended for underground work
X
6 Supplementary essential health and safety requirements for machinery
presenting particular hazards due to the lifting of persons
X
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