SCHUNK EZN 100, Assembly And Operating Manual

Page 1: ...Translation of Original Operating Manual Assembly and Operating Manual EZN 3 finger centric gripper...

Page 2: ...for the purpose of technical improvement Document number 389068 Version 11 00 05 03 2020 en SCHUNK GmbH Co KG All rights reserved Dear Customer thank you for trusting our products and our family owne...

Page 3: ...al protective equipment 10 2 9 Notes on safe operation 11 2 10 Transport 11 2 11 Malfunctions 12 2 12 Disposal 12 2 13 Fundamental dangers 12 2 13 1 Protection during handling and assembly 13 2 13 2 P...

Page 4: ...7 1 1 Product does not move 39 7 1 2 Gripping force gets weaker 39 7 1 3 Product does not execute a complete stroke 39 7 1 4 Product opens or closes jerkily 39 7 1 5 Motor rotates but does not move gr...

Page 5: ...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...

Page 6: ...following variations EZN with hybrid cable EZN S with Y plug EZN Dust tight version SD EZN S Dust tight version SD 1 4 Warranty If the product is used as intended the warranty is valid for 24 months...

Page 7: ...with the ECM controller Motion Tool Schunk MTS configuration and commissioning tool EEPROM files for the ECM controller Assembly and Operating Manual FB20 function module for Siemens S7 300 400 for co...

Page 8: ...r 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 ex...

Page 9: ...the gripper fingers when no residual energy remains in the product Make sure that the product and the top jaws are a sufficient size for the application 2 6 Ambient conditions and operating condition...

Page 10: ...d 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 possibl...

Page 11: ...osive 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 ac...

Page 12: ...sposal 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 pro...

Page 13: ...ention 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...

Page 14: ...fective it must be assumed that the drive movement is faulty with its action being dependent on the control unit and the current operating condition of the drive Perform maintenance work modifications...

Page 15: ...to all electrical components according to the wiring diagram Check whether covers and protective devices are fitted to prevent contact with live components Do not touch the product s terminals when t...

Page 16: ...s with pace makers metal implants metal shards or hearing aids require the consent of a physician before entering areas in which magnetic grippers or motor parts with permanent magnets are stored repa...

Page 17: ...tand clear of suspended loads and do not step within their swiveling range Never move loads without supervision Do not leave suspended loads unattended Wear suitable protective equipment WARNING Risk...

Page 18: ...ot reach into the open mechanism or the movement area of the product WARNING Risk of injury from sharp edges and corners Sharp edges and corners can cause cuts Use suitable protective equipment WARNIN...

Page 19: ...140 300 Max gripping force N 500 800 Max speed mm s 80 Max acceleration mm s a 1500 Max permissible finger length mm 80 125 Max permitted weight per finger kg 0 35 1 10 Workpiece weight kg recommendat...

Page 20: ...ical operating data for dust tight SD variant Weight kg 1 08 2 48 IP rating 64 Pressure range for air purge bar 0 2 0 5 EZN 64 100 Warranty duration months 24 24 or maximum cycles piece 10 000 000 10...

Page 21: ...mm Dimensions without tolerances 0 4 mm Output equation ES1 S3 KER1 R2 cos ES2 S4 KER1 R2 sin Rotor turns CCW from the attachment side Characteristics Specification Note Function 1X BRX Primary Runner...

Page 22: ...Max frequency Hz Fmax 256 7 Power loss at Mn W Pv 9 Motor constant N w Km 0 1 Intermediate circuit voltage V Uzk 24 Counter voltage phase phase V Electromotive force 0 00642 at 1 rpm Resistance phase...

Page 23: ...range C 5 to 55 5 to 55 Max cable length m 20 20 Max conductor resistance 0 25 mm2 0 75 mm2 78 Ohm km 26 Ohm km 78 Ohm km Cable type Power Transducer Cable track Bending radius x times the cable diame...

Page 24: ...and description 4 1 Design 3 finger centric gripper with hybrid cable 1 Ground connection 3 EMC fitting 2 Housing 4 Connection cable 3 finger centric gripper with Y plug 1 Ground connection 4 Y plug...

Page 25: ...ith a high gripping force and high maximum moments due to multi tooth guidance The product is controlled by an external controller Optimal application utilization is achieved with the SCHUNK ECM contr...

Page 26: ...dropped to a residual voltage of less than 10 V LED UMOT goes out Check supply voltage between UMot and GND on the terminal strip CAUTION Material damage due to mechanical forces If the cable which i...

Page 27: ...ion cable Electrical connection to the ECM controller 30 Encoder connection cable on the controller to the Resolver terminal strip Power connection cable on the controller to the Motor terminal strip...

Page 28: ...ness of the mounting surface Dimensions in mm Edge length Permissible unevenness 100 0 02 100 0 05 Choose the installation position so that connection cables are not damaged or cannot wrap around the...

Page 29: ...Item Designation EZN 64 100 1 Centering sleeve 4 5 2 Thread in base jaw M5 M6 Max depth of engagement mm 10 13 Mounting screws as per standard DIN EN ISO 4762 Assembly options example EZN S Item Desig...

Page 30: ...ctrical automated systems Disconnect the controller from the power supply The intermediate circuit capacitors must be discharged Wait for approx 5 minutes for the capacitors to discharge Ensure that t...

Page 31: ...allocation terminal strip resolver at drive regulator ECM Phoenix terminal Wire color Resolver signals 1 Sin Yellow Sin 2 Sin Blue Sin 3 Cos Black Cos 4 Cos Red Cos 5 Osz White Red Ref 6 GND White Ye...

Page 32: ...housing 6 unassigned 7 GND Grey 6 8 Osz Pink 5 Wire color of the supplied SCHUNK cable otherwise according to customer specifications Connection plug M17 Pin allocation connection plug M17 on stranded...

Page 33: ...Assembly 11 00 EZN Assembly and Operating Manual en 389068 33 5 2 2 2 Wiring diagram Wiring diagram...

Page 34: ...ion by means of an external fixed fuse Protection via current limiting of the supplying power supply unit Protection via a motor protection switch Protection by means of an external fixed fuse The fus...

Page 35: ...ut voltage 85 264 VAC 88 360 VDC Input voltage nominal 115 VAC 230 VAC 88 360 VDC Output voltage VDC 24 Output current A 5 Power W 120 Protection via a motor protection switch NOTE Adjust the response...

Page 36: ...established between the product and the machine on the customer s premises The ground cable must be mounted on the threaded hole identified by the ground marking NOTE Only connect the ground cable at...

Page 37: ...air purge neither the function nor permanent tightness can be guaranteed This can result in damage to the product Connect the air purge to the air purge connection prior to starting up the product Th...

Page 38: ...38 11 00 EZN Assembly and Operating Manual en 389068 6 Start up and system integration via ECM controller NOTE See Assembly and Operating Manual ECM Controller for instructions on start up and system...

Page 39: ...necessary re lubricate 7 1 3 Product does not execute a complete stroke Possible cause Corrective action Dirt deposits between basic jaws and guidance Clean and if necessary re lubricate 7 1 4 Product...

Page 40: ...Behavior in event of malfunctions on the ECM controller Identified errors are shown as hexadecimal code on the seven segment display of the controller Information about the error codes are included in...

Page 41: ...cycles can ensure the lifespan is maintained Interval Mio cycles for EZN 50 125 Maintenance work 2 Check wearing parts for damage and check wear change O rings Disassembly and assembling 42 2 Supply g...

Page 42: ...e Grease greasing areas 41 While lubricating completely open and close the gripper alternately Unscrew the lubrication nipple Screw set screw into the air purge connection 1 8 4 Disassembly and assemb...

Page 43: ...ction Maintaining gripper without disassembling 42 Replace intermediate cover 3 and apply the intermediate jaw 2 together with centering sleeves 5 IMPORTANT Always use new O rings 4 when installing th...

Page 44: ...nction of the gripper Test function of the gripper with the Motion Tool SCHUNK MTS configuration and commissioning tool see enclosed DVD Carry out speed movement with parameters according to the follo...

Page 45: ...tion 3 finger centric gripper EZN electric ID number 0306110 0306114 The partly completed machine may not be put into operation until conformity of the machine into which the partly completed machine...

Page 46: ...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 47: ...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 Sta...

Page 48: ...irements 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...