SCHUNK SVH, Assembly And Operating Manual

Page 1: ...Translation of Original Operating Manual Assembly and Operating Manual SVH Servo electric 5 Finger Gripping Hand ...

Page 2: ...ations 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 challeng...

Page 3: ...s 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 ...

Page 4: ...l en 389734 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 ...

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 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 c...

Page 6: ...s 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 firs...

Page 7: ...erface 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 ...

Page 8: ...quipment 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 appropri...

Page 9: ...ontaminated 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 c...

Page 10: ...ed 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...

Page 11: ...nary approach by maintenance and disassembly Only specially trained staff should disassemble the product Ensure that the operating personnel are fit for use WARNING Risk of injury from unexpected movements of the machine system WARNING Risk of injury due to hot surfaces In high ambient temperatures it is possible for the product to be exposed to excessive heat causing the surfaces to become hot We...

Page 12: ...ctrical devices are not generally protected against failure Therefore the user is responsible for ensuring that the machine is brought into a safe state in case of product malfunction WARNING Risk of injury due to sudden movements in case of electrical malfunctions Electrical malfunctions can lead to sudden movements in the machine During transport and handling do not bend any of the components or...

Page 13: ...performance levels The settings for commissioning the robot must be specified factored in by the integrator The trade association requirements for hazard and injury prevention in workplaces using collaborative robots must be factored in and verified by the integrator The trade association requirements for the medical fitness and professional qualifications of operating personnel for collaborative ...

Page 14: ...data Designation SVH Right Left Ident number 0306456 0306457 Overall length mm 242 5 Hand width mm 92 Max finger width mm 19 6 Weight kg 1 3 IP rating 20 Min ambient temperature C Max ambient temperature C 10 40 Noise emission dB A 60 Number of joints 20 3 3 Electrical operating data Designation SVH Power supply 24 V DC 5 Max current input 3 5 A Sensor system Interfaces FWA115 flat change system R...

Page 15: ... 300 x 85 Supply voltage VDC 24 5 Max Current input A 3 75 Operating elements Illuminated ON OFF push buttons USB Ethernet toggle switch Weight kg 2 7 Single board computer BananaPI with SD slot Interfaces Flat change system Socket for external power supply unit USB socket Ethernet socket 3 5 Name plate The name plate is placed in the interior on the heat sink ...

Page 16: ... also makes it possible to attach it to other commercially available industrial and lightweight robots In this case the 5 finger gripping hand SVH must always be operated within its technical specifications Technical data 14 The 5 finger gripping hand SVH is available in two designs corresponding to the right and left human hands The dimensions and operating data are identical for both designs Ove...

Page 17: ...ctronics are integrated into the wrist of the 5 finger gripping hand SVH Attaching it to a lightweight arm or to another application is possible via the SCHUNK flat change system The power supply and control lines for the 5 finger gripping hand SVH are connected to the flat exchange system s adapter boards with spring contacts The 5 finger gripping hand SVH can either operate on the assembly board...

Page 18: ...is only intended for demonstration purposes not for use with products in continuous operation The software is not supported by SCHUNK When controlling the 5 finger gripping hand via the Ethernet interface the SCHUNK diagnostics and control GUI is used Assembly board with operating and control panels 1 FWK ISO 115 flat change system 4 Ethernet connection 2 Connection for the Power IN 24 VDC network...

Page 19: ...ed for the mounting screws NOTICE Risk of damage when using unsuitable connecting elements SCHUNK recommends using SCHUNK connecting elements Check the flatness of the bolting surface The values refer to the entire bolting surface NOTICE Risk of operational malfunction due to torn or pinched lines If electrical lines are too short or installed incorrectly they may become pinched or torn by the mov...

Page 20: ... supply sufficient power for the hand Make sure the dimensions of the cable cross section are adequate when cabling The assembly and installation of the SVH 5 finger gripping hand are different for the configurations listed below Operating on the assembly board Demonstration mode with SCHUNK Diagnostics and Control GUI Extended use on assembly board Free programming using the Mecovis software for ...

Page 21: ...sioning via a network connection and the SCHUNK Diagnostics and Control GUI is described below Flat change system on an assembly board 1 Clamping ring with clamping screws 3 Adapter board 2 Centering pin Connection to the 5 finger gripping hand SVH 1 Flange with seal for mechanical mounting 3 Bore hole for centering pin 2 Adapter board ...

Page 22: ...lamping ring Ø Plug the network cable of the external computer into the Ethernet interface on the assembly board Ø Switch the toggle switch on the assembly board to the Ethernet position Ø Plug the external network device into the connection on the assembly board Ø Make sure that the 5 finger gripping hand can move freely Ø Switch the illuminated ON OFF push button to ON The single board computer ...

Page 23: ...df on the CD enclosed 5 3 Extended use on assembly board Ø Switch the illuminated ON OFF push button to OFF Ø Plug the USB cable of the external computer into the USB interface on the assembly board Ø Switch the toggle switch on the assembly board to the USB position Ø Make sure that the 5 finger gripping had can move freely Ø Switch the illuminated ON OFF push button to ON This bypasses the singl...

Page 24: ...Risk of injury if the 5 finger gripping hand is torn from the robot arm or moving unit If the mounting process has not been performed properly the 5 finger gripping hand may come loose from the robot arm Mount the flat change system properly Tighten the lateral cylindrical screw to the clamping ring with a spanner wrench Using the flat change system the gripping hand can be mounted on an external ...

Page 25: ... Tighten the clamping screws on the clamping ring Ø Secure the clamping ring with the lateral cylindrical screw WARNING Risk of injury due to incorrect electrical connection If the electrical connection is not performed properly a malfunction or short circuit may occur The operator is responsible for executing the electrical connection correctly Provide galvanic isolation of the USB signal USB iso...

Page 26: ...ded wire color UM 24 VDC supply 0 5 Red UM GND supply 0 5 Black NOTE The clamps and the two pronged sockets on the adapter board are not used 5 5 System requirements for commissioning Electrical connection to the RS485 USB interface converter Brainbox and USB isolator USB cable between the USB isolator and PC PC laptop etc Control software Commissioning is dependent on the control software install...

Page 27: ...the fingers to collide if controlled accordingly Collisions will not cause damage but the movement will be interrupted When developing a customized control program for the 5 finger gripping hand SVH the following information applies Note English is the standard language in the field of software development For this reason English language terms have been used in the following 6 1 Homing Homing is ...

Page 28: ...Close 2 000 25 000 500 100 rpm INDEX FINGER PROXI Stretch 2 000 40 000 200 500 rpm INDEX FINGER DISTAL Stretch 2 000 45 000 100 500 rpm MIDDLE FINGER PROXI Stretch 2 000 40 000 200 500 rpm MIDDLE FINGER DISTAL Stretch 2 000 45 000 100 500 rpm RING FINGER Stretch 2 000 45 000 100 500 rpm LITTLE FINGER Stretch 2 000 45 000 100 500 rpm The following table contains the drive motor data The maximum val...

Page 29: ... INDEX FINGER DISTAL 176 360 350 11250 12 MIDDLE FINGER PROXI 196 688 350 13600 24 MIDDLE FINGER DISTAL 176 360 350 12500 12 RING FINGER 176 360 350 12500 12 LITTLE FINGER 176 360 350 12500 12 6 2 Operation The 5 finger gripping hand SVH does not have any operable elements Operating and running the 5 finger gripping hand SVH is dependent on the software installed The 5 finger gripping hand SVH can...

Page 30: ...g network address Network address of the computer connected 192 168 1 2 192 168 1 255 Subnet mask 255 255 255 0 URL in browser 192 168 1 1 7 3 Fingers are colliding Possible cause Corrective action The power supply for the drive or the electronic control unit has malfunctioned Check the power supply Communication has been connected incorrectly Check the signal cable connection Supply cable is defe...

Page 31: ...Troubleshooting 02 00 SVH Assembly and Operating Manual en 389734 31 7 5 Unusual noise during operation Possible cause Corrective action Mechanical damage Send the product to SCHUNK for repair ...

Page 32: ...new clean room swabs Use oil labeled Shell AF2 Ø If necessary clean fingertips with isopropyl The general rule is Only use solvent free water based cleaning agents Do not use steam coolant or high pressure cleaners Do not allow cleaning agents to penetrate into electrical or mechanical equipment Repair NOTICE The product may only be disassembled by SCHUNK otherwise the mechanics or the internal el...