SCHUNK SVH Istruzioni utente
Translation of Original Operating Manual
Assembly and Operating Manual
SVH
Servo-electric 5-Finger Gripping Hand
Imprint
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02.00 | SVH | Assembly and Operating Manual | en | 389734
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: 389734
Version: 02.00|06/05/2019|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
1.1.3 Variants.....................................................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 6
2 Basic safety notes ................................................................................................... 8
2.1 Intended use......................................................................................................... 8
2.2 Consequences of inappropriate use..................................................................... 8
2.3 Ambient conditions and operating conditions .....................................................9
2.4 Product safety ...................................................................................................... 9
2.4.1 Protective equipment...............................................................................9
2.4.2 Structural changes, attachments and modifications ................................9
2.5 Personnel qualification....................................................................................... 10
2.6 Personal protective equipment.......................................................................... 10
2.7 Notes on particular risks..................................................................................... 11
2.8 Notes for integrators .......................................................................................... 13
3 Technical data.........................................................................................................14
3.1 Outer dimensions ............................................................................................... 14
3.2 Basic data ........................................................................................................... 14
3.3 Electrical operating data..................................................................................... 14
3.4 Data assembly board .......................................................................................... 15
3.5 Name plate ......................................................................................................... 15
4 Design and description............................................................................................16
4.1 5‐Finger Gripping Hand ...................................................................................... 16
4.2 Assembly board .................................................................................................. 18
5 Assembly and installation .......................................................................................19
5.1 Assembly and installation on an assembly board............................................... 21
5.2 Starting SCHUNK GUI Diagnostics....................................................................... 23
5.3 Extended use on assembly board....................................................................... 23
5.4 Mounting to a robot or moving unit................................................................... 24
5.5 System requirements for commissioning .......................................................... 26
6 Operation ...............................................................................................................27
6.1 Homing ............................................................................................................... 27
6.2 Operation ........................................................................................................... 29
Table of contents
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7 Troubleshooting .....................................................................................................30
7.1 Communication via USB interrupted.................................................................. 30
7.2 Communication via Ethernet interrupted .......................................................... 30
7.3 Fingers are colliding............................................................................................ 30
7.4 SVH is not reacting, not moving or stops suddenly ............................................ 30
7.5 Unusual noise during operation ......................................................................... 31
8 Maintenance ..........................................................................................................32
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*
• Mecovis protocol description/interface description
• Instructions for GUI diagnostics
• SVH_Protocoll_Specification_v0 4
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
Additional information is available on the enclosed CD.
1.1.3 Variants
This operating manual applies to the following variations:
• SVH right
• SVH left
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 intervals, Maintenance [}32]
• Observe the ambient conditions and operating conditions,
Ambient conditions and operating conditions [}9]
Parts touching the workpiece and wear parts are not included in
the warranty.
After the warranty period has expired, SCHUNK can no longer
guarantee safety features without first performing a maintenance
service.
1.3 Scope of delivery
The scope of delivery includes
• Servo-electric 5-Finger Gripping Hand SVH in the version
ordered
• Operating manual
• Mecovis parameter set
• Assembly board (integrated: BananaPI, USB Isolator, Brainbox,
FWK-ISO 115, var. cables)
• Power supply unit and cable
• Zarges boxes (packaging material)
• CD (software)
General
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The enclosed CD contains:
Directory Contents
Brainbox • Manufacturer documents (software and
documentation) for Brainbox (RS485/USB
interface converter)
Mecovis software • Installation files for the Mecovis software
SVH_Manuals • BananaPI user interface
• Instructions for Interactive Diagnosis and
Control GUI for SCHUNK SVH
• Protocol specification for SCHUNK Five
Finger Hand
• Mecovis S5FH-controller user's guide
• DOF Diagram/range of movement/joint
torque
• Schunk Readme
CD content may change in line with technological developments.
Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product features a multi-functional design intended for
gripping objects ranging from 1-850 g.
It is important to ensure that no fragile, sharp or sharp-edged
objects, or objects with an edge length of over 50 cm are handled.
• Gripping objects of a higher weight is only permitted after
consultation with the manufacturer.
• The product is intended for installation in a machine. The
requirements of the applicable guidelines and standards must
be observed and complied with. If applicable, it may be required
to provide proof of safety for the machine to be used. The
safety features of this product were established/certified only
for use as described in this operating manual.
• The safety-related information contained in the "Electrical
equipment of machines" standard (DIN EN 60204) must be
observed. Commissioning is only permitted in compliance with
EMC directives (2014/30/EU).
• The product may be used only in the context of its defined
application parameters Technical data [}14].
• The product may only be used within the scope of its technical
data, Technical data [}14].
• The product is intended for industrial and industry-oriented use.
• For appropriate use of this unit, it is essential to observe the
technical data and assembly and operation notes in this manual
and to comply with the maintenance intervals.
2.2 Consequences of inappropriate use
The safety of the product cannot be guaranteed in the event of
inappropriate use (i.e. actions carried out in a manner that is not
compliant with this operating manual). It is possible for the safety
of this product to be permanently impaired/damaged as the result
of one single inappropriate use.
Examples of inappropriate use include the product being used as a
press tool, being overloaded, or being used in an environment that
is not low-dust/dry.
Basic safety notes
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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 [}14].
• 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.
2.4 Product safety
Dangers arise from the product, if:
• the product is not used in accordance with its intended
purpose.
• the product is not installed or maintained properly.
• the safety and installation notes are not observed.
Avoid any manner of working that may interfere with the function
and operational safety of the product.
Wear protective equipment.
NOTE
More information is contained in the relevant chapters.
NOTE
The availability of the safety functions is ensured only after a full
system start.
2.4.1 Protective equipment
Provide protective equipment per EC Machinery Directive.
2.4.2 Structural changes, attachments and modifications
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.
Basic safety notes
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2.5 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.
2.6 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.
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