SCHUNK AGE-U, Assembly And Operating Manual

Page 1: ...Translation of the original manual Assembly and Operating manual AGE U Universal Compensation Unit...

Page 2: ...onditions and operating conditions 8 2 6 Personnel qualification 8 2 7 Personal protective equipment 9 2 8 Notes on safe operation 9 2 9 Malfunctions 10 2 10 Disposal 10 2 11 Fundamental dangers 10 2...

Page 3: ...ng the protective cover optional accessory 28 6 Operation 30 6 1 Centering 30 6 2 Compensating 30 6 3 Joining parts 31 6 4 Picking up parts 32 6 5 Monitoring deflection 34 7 Troubleshooting 35 8 Maint...

Page 4: ...ations for the purpose of technical improvement Document number 1393226 Version 01 00 27 03 2019 en SCHUNK GmbH Co KG All rights reserved Dear Customer thank you for trusting our products and our fami...

Page 5: ...s 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 documen...

Page 6: ...e 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 operatin...

Page 7: ...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 instruc...

Page 8: ...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 activit...

Page 9: ...gles when handling hazardous substances Wear close fitting protective clothing and also wear long hair in a hairnet when dealing with moving components 2 8 Notes on safe operation Incorrect handling o...

Page 10: ...isposal 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 pr...

Page 11: ...vention 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 Stan...

Page 12: ...g force N in Z direction max min 92 1 35 6 Total with supply pressure of 0 bar and min max axial compensation Pressure medium Compressed air compressed air quality according to ISO 8573 1 7 4 4 Minima...

Page 13: ...ls and workpieces The higher the payload the lower the breakaway torque To increase the breakaway torque either the payload must be reduced or the supply pressure must be increased The curves of the b...

Page 14: ...deflection may occur that is undesirable tilting about the X or Y axis To avoid this deflection it can be estimated In this case the X Y moment supply pressure payload and distance to the center of g...

Page 15: ...dity values are close to the upper load limits of the product and therefore do not provide a reliable basis Calculate angular displacement with tolerance margin for variable values such as acceleratio...

Page 16: ...ectional view 1 Screw for mounting on robot 10 Piston 2 Groove for sensor 11 Washer beveled 3 Piston cover 12 Overload pin 4 Compression spring 13 Workpiece stop 5 Housing tool side 14 Piston rod 6 To...

Page 17: ...ation resistance The chamber can be pressurized with compressed air to increase this resistance or the rigidity of the product The compressed air causes the piston 19 and the piston rod 13 connected t...

Page 18: ...During compensation the product contracts by a maximum of 1 1 mm along the Z axis due to the cone on the overload pin Lateral compensation Y1 Compensation in direction of Y axis 2 7 mm X1 Compensation...

Page 19: ...tive to the robot side housing about the Z axis During compensation the product contracts minimally along the Z axis due to the cone on the overload pin Torsional compensation R1 Compensation about Z...

Page 20: ...on Mounting screw 4 Piece M6 x 10 Strength class 8 8 Tightening torque Nm 9 ISO Flange ISO 9409 1 50 4 M6 Bore hole for alignment pin 6 H7 Tool side connection Threads for mounting screws M6 ISO Flang...

Page 21: ...t have bore holes for screws and an alignment pin as well as a centering collar for precise positioning on the robot and product The alignment pin and centering collar prevent unwanted shifting and tw...

Page 22: ...sh Alignment pin too long If the alignment pin is too long there will be a gap between the housing and the product Incorrect mounting of the adapter plate A robot side B tool side A B Connection Robot...

Page 23: ...plug connection screw 5 3 Assembling and connecting the product WARNING Risk of injury due to unexpected movements If the power supply is switched on or residual energy remains in the system componen...

Page 24: ...ve equipment WARNING Risk of injury due to improperly carried out assembly Improperly carried out assembly work can lead to severe injuries and property damage Before beginning work ensure sufficient...

Page 25: ...ment pin 3 Observe the maximal tightening torque admissible screw in depth and if necessary strength class For information on the configuration of the adapter plate see Requirements for adapter plates...

Page 26: ...gnment pin 2 Observe the maximal tightening torque admissible screw in depth and if necessary strength class Mounting the end effector on the product provided by customer available from Schunk on requ...

Page 27: ...e sensor during assembly Observe the maximal tightening torque Connect the sensor 1 see Sensor Assembly and Operating Manual Place the product in the centered home position Monitoring deflection 34 Sl...

Page 28: ...d secure against re connection Ensure that no residual energy remains in the system Secure components from falling down or over The protective cover prevents the ingress of dirt between the tool side...

Page 29: ...r the gap to the tool plate Slide the circular spring on the robot side housing over the protective cover into the groove of the housing 3 Place the other circular spring 7 over the protective cover i...

Page 30: ...bserve the requirements for the compressed air supply Technical data 12 6 1 Centering The centered middle position is the moment of zero deflection and is the home position of the product This positio...

Page 31: ...ment between the robot and workpiece Example Pins must be joined with beveled holes Joining parts with beveled holes Item Description 1 The robot has gripped the pin and moves into a joining position...

Page 32: ...ot and workpiece Example Workpieces are gripped laterally with offset Moving parts in a plane Item Description 1 The robot moves to a pick up position over the workpiece 2 The robot lowers and grips t...

Page 33: ...nclined plane Picking up parts at an inclined plane Item Description 1 The robot grips the pin and moves into a pick up position over the workpiece 2 The robot lowers and grips the workpiece The produ...

Page 34: ...e product must be supplied with compressed air so that the piston rod rests on the workpiece stop in the housing For air quality and pressure requirements see Technical data 12 The sensor displays the...

Page 35: ...ficient supply of compressed air Technical data 12 Sensor cable damaged or connection loose Check sensor cable on damage Replacing the sensor cable Check cables and connections for damage and replace...

Page 36: ...workpiece stop 37 8 2 Removing the product from the robot arm WARNING Risk of injury due to sudden movements If the energy supply is switched on or if residual energy is still present in the system th...

Page 37: ...from the robot arm 36 Loosen the screws 10 and remove the tool plate 9 Remove and discard the overload pins 8 Remove the tool side housing 6 and place it in a suitable assembly location Remove and dis...

Page 38: ...threads of the overload pins 8 Align the tool side housing 6 over the conical compression springs 4 Make sure that the flat areas of the housing are aligned The conical surfaces of the compression sp...

Page 39: ...al en 1393226 39 8 4 Assembly drawing The following figure is an example image It serves for illustration and assignment of the spare parts Variations are possible depending on size and variant Assemb...

Page 40: ...n Universal Compensation Unit AGE U pneumatic ID number 1312860 The partly completed machine may not be put into operation until conformity of the machine into which the partly completed machine is to...

Page 41: ...ments 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 Opera...

Page 42: ...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 St...

Page 43: ...uirements 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...

Page 44: ...44 01 00 AGE U Assembly and Operating manual en 1393226...