SCHUNK PW V6 Istruzioni utente
Translation of the original operating manual
Assembly and operating manual
PW V6
Servo-electric rotary pan-tilt actuator
Imprint
2
02.00 | PW V6 | Assembly and operating manual | en | 389670
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: 389670
Version: 02.00|30/04/2019|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear Customer,
thank you for trusting our products and our family-owned company, the leading
technology 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
schunk.com
Table of contents
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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 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 ........................................................................................ 7
2.4 Spare parts ........................................................................................................... 7
2.5 Ambient conditions and operating conditions .....................................................7
2.6 Personnel qualification......................................................................................... 8
2.7 Personal protective equipment............................................................................ 8
2.8 Notes on safe operation ....................................................................................... 9
2.9 Transport .............................................................................................................. 9
2.10 Malfunctions......................................................................................................... 9
2.11 Disposal .............................................................................................................. 10
2.12 Fundamental dangers......................................................................................... 10
2.12.1 Protection during handling and assembly ..............................................10
2.12.2 Protection during commissioning and operation ...................................11
2.12.3 Protection against dangerous movements.............................................11
2.12.4 Protection against electric shock............................................................12
2.12.5 Protection against magnetic and electromagnetic fields .......................13
2.13 Notes on particular risks..................................................................................... 14
3 Technical data.........................................................................................................16
3.1 Basic data ........................................................................................................... 16
3.2 Electrical operating data..................................................................................... 17
3.3 Special requirements for the voltage supply...................................................... 17
4 Design and description............................................................................................18
4.1 Design ................................................................................................................. 18
4.2 Description ......................................................................................................... 18
4.3 Connection board............................................................................................... 19
4.4 LED...................................................................................................................... 21
5 Assembly and installation .......................................................................................22
5.1 Mechanical connection ...................................................................................... 22
5.2 Electrical connection .......................................................................................... 24
Table of contents
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02.00 | PW V6 | Assembly and operating manual | en | 389670
5.2.1 RS232 interface ......................................................................................25
5.2.2 CAN bus interface ...................................................................................26
5.2.3 PROFIBUS DP interface ...........................................................................28
5.3 Installing and connecting.................................................................................... 30
5.4 Connecting ground cable.................................................................................... 31
5.5 Installing connection cap.................................................................................... 32
5.6 Combination of multiple products ..................................................................... 33
5.7 Commissioning the product ............................................................................... 34
5.7.1 Connect the product to the computer ...................................................35
5.7.2 Open Motion Tool Schunk (MTS)............................................................36
5.7.3 Performing initial commissioning ...........................................................39
5.8 Set the product to its factory settings ................................................................ 41
5.9 Updating firmware ............................................................................................. 41
5.10 Systemintegration .............................................................................................. 42
5.10.1 Compatibility ..........................................................................................42
5.10.2 System structure.....................................................................................42
5.10.3 SCHUNK Motion protocol .......................................................................43
5.10.4 Important commands.............................................................................44
6 Troubleshooting .....................................................................................................47
6.1 Product does not move ...................................................................................... 47
6.2 Product moves sluggishly or jerks ......................................................................47
6.3 Motor does not turn........................................................................................... 47
6.4 Product stops abruptly ....................................................................................... 47
7 Maintenance ..........................................................................................................48
7.1 Maintenance intervals........................................................................................ 48
7.2 Disassembly and assembling .............................................................................. 48
8 Translation of original declaration of incorporation ................................................49
9 Annex to Declaration of Incorporation....................................................................50
General
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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
Applicable 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.
General
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1.1.2 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 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 Scope of delivery
The scope of delivery includes
• Servo-electric rotary pan-tilt actuator PW V6
in the version ordered
• M5 plug for RS232 interface
• Adaptor cable, USB to M5 plug (length 2m)
• DVD
Contents of DVD:
• "SCHUNK Motion Tool (MTS)" configuration and commissioning tool
• "SCHUNK Motion Tool (MTS)" software manual
• "SCHUNK Motion Protocol (SMP)" software manual
• "SCHUNK Drive Protocol (SDP)" software manual
• Firmware manager
• Assembly and Operating Manual
• USB driver
1.4 Accessories
The following accessories, which must be ordered separately, are
required for the product:
• Hybrid cable
• Connection cap
– DMI
NOTE
The product is delivered without the connection cap. This must be
ordered separately as an accessory. A connection cap is necessary
to operate the product.
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.
Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product may only be used for swiveling permissible
attachment parts or workpieces.
• The product may only be used within the scope of its technical
data, Technical data [}16].
• 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 is intended for installation in a machine/system.
The applicable guidelines must be observed and complied with.
• The product is intended for industrial and industry-oriented use.
• 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.
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
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 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 [}16].
Basic safety notes
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2.6 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.
2.7 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.
Basic safety notes
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2.8 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.
2.9 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.
2.10 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.
Basic safety notes
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02.00 | PW V6 | Assembly and operating manual | en | 389670
2.11 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.
2.12 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.
2.12.1 Protection during handling and assembly
Incorrect handling and assembly
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.
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