SCHUNK SWS 005, Assembly And Operating Manual

Page 1: ...Translation of the original manual Assembly and Operating Manual SWS Quick Change System ...

Page 2: ...s for the purpose of technical improvement Document number 389456 Version 12 00 10 09 2020 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 ...

Page 3: ...tion 11 2 7 Personal protective equipment 12 2 8 Notes on safe operation 12 2 9 Transport 13 2 10 Malfunctions 13 2 11 Disposal 13 2 12 Fundamental dangers 13 2 12 1 Protection during handling and assembly 14 2 12 2 Protection during commissioning and operation 14 2 12 3 Protection against dangerous movements 15 2 13 Notes on particular risks 16 3 Technical data 17 3 1 Basic data 17 3 2 Ambient co...

Page 4: ...ple for pneumatic control 58 5 3 2 SWS 001 59 5 3 3 SWS 005 60 5 3 4 SWS 007 61 5 3 5 SWS 011 63 5 3 6 SWS 011HM 64 5 3 7 SWS 020 021 041 060 65 5 3 8 SWS 020HM 021HM 66 5 3 9 SWS 040Q 071 67 5 3 10 SWS 046 68 5 3 11 SWS 076 110 160 69 5 4 Mounting the sensor 70 5 4 1 Overview of sensors 70 5 4 2 Check integrated piston stroke control 71 5 4 3 Mount and check external piston stroke control 74 5 4 ...

Page 5: ...103 7 8 2 Change external piston stroke control 109 7 8 3 Change sensor ready to lock 113 7 9 Maintain option modules 114 7 9 1 Clean electric feed through module 114 7 9 2 Replace V ring seal on electric feed through module 115 7 9 3 Change rubber bushing on the fluid feed through module 116 7 10 Assembly drawings 117 7 10 1 SWS 001 117 7 10 2 SWS 005 118 7 10 3 SWS 007 119 7 10 4 SWS 011 120 7 1...

Page 6: ... 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 7 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 ca...

Page 7: ...n 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 ...

Page 8: ...apter plates for screwing to the robot For information regarding which accessory articles can be used with the corresponding product variants see catalog data sheet 1 4 1 Seal kit Size ID No of the seal kit SWS 001 available from SCHUNK on request SWS 005 0370819 SWS 007 1371094 SWS 011 0370977 SWS 011HM available from SCHUNK on request SWK 020 0370821 SWA 020 0370822 SWS 020HM available from SCHU...

Page 9: ...egories 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 may only be used within the scope of its technical data Technical data 17 Operating conditions Use only in covered or closed areas Use in non explosive areas Only the substances permitted for the respective product should be fed through fluids el...

Page 10: ...rized 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 consi...

Page 11: ...elated 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 po...

Page 12: ...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 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 func...

Page 13: ...ntil the malfunction has been rectified Test the product after a malfunction to establish whether it still functions properly and no increased risks have arisen 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 compon...

Page 14: ...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 Stand clear of suspended loads and do not step into their swiveling range Never move loads without supervision Do not leave suspended loads unattended 2 12 2 Protection during commissioning and operation ...

Page 15: ... on the control unit and the current operating condition of the drive Perform maintenance work modifications and attachments outside the danger zone defined by the movement range To avoid accidents and or material damage human access to the movement range of the machine must be restricted Limit prevent accidental access for people in this area due through technical safety measures The protective c...

Page 16: ... any work on the product Switch off the power supply and secure against restarting Make sure that no residual energy remains in the system WARNING Risk of crushing from objects falling and being ejected During operation the load can no longer be held if the maximum permissible load is exceeded if a component breaks or if the pressure drops Check product for damage before operation Arrange for repa...

Page 17: ...5 102 011 0 13 0 09 16 75 102 011HM 0 29 0 09 16 20 3 12 4 020 0 69 0 32 25 169 5 220 020HM 0 68 0 32 25 56 5 78 021 0 5 0 3 25 169 5 230 021HM 0 7 0 3 25 56 5 78 040Q 1 27 0 6 50 471 648 041 1 4 0 7 50 471 648 046 1 95 1 03 50 678 882 060 1 3 0 7 75 591 326 071 1 8 1 3 79 1185 378 076 2 25 1 4 100 1626 2103 110 4 2 2 150 2352 2352 160 6 44 2 86 300 7170 3800 More technical data is included in the...

Page 18: ...n max 5 60 Pressure medium Compressed air compressed air quality according to ISO 8573 1 7 4 4 Permissible pressure range bar 4 5 6 9 For use in dirty ambient conditions e g sprayed water vapors abrasion or processing dust SCHUNK offers corresponding product options as standard SCHUNK also offers customized solutions for special applications in dirty ambient conditions ...

Page 19: ...gular offset XY 001 1 3 2 0 7 005 2 2 1 1 1 007 2 1 5 1 1 5 011 2 1 5 1 0 8 011HM 2 1 5 1 0 8 020 2 2 1 0 8 020HM 2 2 1 0 8 021 2 2 1 0 8 021HM 2 2 1 0 8 040Q 2 5 2 1 0 041 2 3 2 1 0 046 2 2 5 1 5 1 0 060 1 3 2 0 6 071 1 3 2 0 6 076 1 2 1 1 0 110 1 3 1 0 7 160 1 2 5 2 0 7 Maximum values specified By reducing the actual values the wear and tear during coupling decoupling is minimized The actual val...

Page 20: ...SWK The SWK is connected to the robot and together with the SWA forms the interface between the robot and the end effector Quick change adapter SWA The SWA is connected to the end effector If different tools are used with an SWK each end effector is equipped with an SWA The unused tools are stored by the robot in a storage rack during when not being used Storage racks are optionally available as a...

Page 21: ...e hardened bearing race 5 This presses SWK and SWA together In the locked state the locking balls are between the male coupling 2 and the incline B of the cam 3 The bevel B fail safe reverse taper causes a high locking force Therefore separation of SWK and SWA in the self locking state is only possible by pneumatic or manual actuation of the locking piston Unlocking If the locking piston is actuat...

Page 22: ...ide SWA locking interface Design SWK 001 1 Pneumatic feed through with O ring 2 Optional module 3 Alignment pin 4 Locking mechanism 5 Dowel pin 6 Air supply lock and unlock SWA SWA locking interface SWA tool side Design SWA 001 1 Port for pneumatic feed through 2 Centering locking sleeve 3 Dowel pin 4 Optional module ...

Page 23: ...ing mechanism 2 Alignment pin bushing 3 Air supply lock and unlock observe reverse piston direction 4 Cover plate 5 Pneumatic feed through with rubber bushing 6 Locking ball SWA Design SWA 005 A view from above 1 Alignment pin 2 Bearing race 3 Pneumatic feed through 4 Port for pneumatic feed through 5 Release bolts ...

Page 24: ...lignment pin bushing 2 Pneumatic feed through with rubber bushing 3 Air supply lock 4 Cover plate 5 Integrated piston stroke control 6 Locking mechanism 7 Locking ball SWA Design SWA 007 1 Alignment pin 2 Pneumatic feed through 3 Port for pneumatic feed through 4 Slot for depositing in storage rack 5 Bearing race ...

Page 25: ... SWS 011 SWK Design SWK 011 1 Locking mechanism 2 Alignment pin bushing 3 Air supply lock and unlock 4 Cover plate 5 Pneumatic feed through with rubber bushing 6 Locking ball SWA Design SWA 011 1 Alignment pin 2 Bearing race 3 Pneumatic feed through 4 Port for pneumatic feed through ...

Page 26: ...WK locking interface Design SWK 011HM 1 Locking mechanism 2 Pneumatic feed through with rubber bushing 3 Alignment pin bushing 4 Locking ball 5 Air supply lock and unlock 6 Integrated piston stroke control SWA Design SWA 011 1 Alignment pin 2 Bearing race 3 Pneumatic feed through 4 Port for pneumatic feed through ...

Page 27: ...A and not as shown here in SWK SWK Exemplary design shown on SWK 021 1 Alignment pin 2 Locking mechanism 3 Locking ball 4 Pneumatic feed through with rubber bushing 5 Air supply lock and unlock SWA Exemplary design shown on SWA 021 1 Bearing race with recesses for locking balls 2 Alignment pin bushing 3 Pneumatic feed through 4 Port for pneumatic feed through ...

Page 28: ...K 021HM 1 Locking mechanism 2 Alignment pin 3 Pneumatic feed through with rubber bushing 4 Integrated piston stroke control 5 Locking ball 6 Air supply lock and unlock 7 Port for pneumatic feed through SWA Exemplary design shown on SWA 021 1 Bearing race with recesses for locking balls 2 Alignment pin bushing 3 Pneumatic feed through 4 Port for pneumatic feed through ...

Page 29: ...WK Exemplary design shown on SWK 071 1 Locking mechanism 2 Alignment pin 3 Pneumatic feed through with rubber bushing 4 Locking ball 5 Air supply lock and unlock SWA Exemplary design shown on SWA 071 1 Bearing race 2 Alignment pin bushing 3 Pneumatic feed through 4 Port for pneumatic feed through ...

Page 30: ... Operating Manual en 389456 4 2 9 SWS 046 SWK Design SWK 046 1 Integrated piston stroke control 2 Locking ball 3 Locking piston 4 Locking mechanism 5 Alignment pin 6 Air supply lock and unlock SWA Design SWA 046 1 Alignment pin bushing 2 Bearing race ...

Page 31: ...n on SWK 110 1 Alignment pin 2 Locking mechanism 3 Locking ball 4 Integrated piston stroke control 5 Pneumatic feed through with rubber bushing 6 Air supply lock and unlock 7 Locking piston SWA Exemplary design shown on SWA 110 1 Port for pneumatic feed through 2 Pneumatic feed through 3 Alignment pin bushing 4 Bearing race ...

Page 32: ... work ensure sufficient assembly clearance Secure components from falling down or over Ensure that all work has been carried out in accordance with the specifications in these instructions Observe tightening torques Ø Check the evenness of the mounting surface Mechanical connection 33 Ø Attach the product to the robot Mechanical connection 33 Observe the maximal tightening torque admissible screw ...

Page 33: ...apter plates if they have bores and recesses that match the product exactly Precisely fitting installation is a prerequisite for the function The adapter plate must meet the following requirements The adapter plate requires bores for the mounting screws with sufficient thread depth for mounting on the robot The adapter plate requires centering recesses for dowel pins with sufficient depth so that ...

Page 34: ...late between the robot and SWK Ø Insert the SWK 2 with integrated dowel pins into the bores on the robot Ø Apply screw lock to screws 3 Ø Secure SWK 2 to robot 1 with screws 3 Observe the tightening torque for the mounting screws Item Mounting SWK 001 3 Mounting screw according to standard M3 x 14 DIN EN ISO 10642 Strength class 8 8 Max tightening torque Nm 0 79 Threadlocker Loctite 222 ...

Page 35: ...56 35 Mount the end effector to SWA 001 Ø Clean the mounting patterns on the SWA 1 and end effector 2 Ø Mount optional adapter plate between SWA and end effector Ø Secure the end effector 2 with screws 3 Observe the tightening torque for the mounting screws ...

Page 36: ... 3 and SWK 7 Ø Insert dowel pin 2 into adapter plate 3 Ø Apply screw lock to screws 4 Ø Insert the adapter plate 3 with dowel pin 2 into the bore on the robot Ø Secure the adapter plate 3 to the robot 1 with screws 4 Observe the tightening torque for the mounting screws Ø Loosen the nuts 9 from the screws 8 that hold down the cover plate 6 on the SWK 7 for delivery The nuts 9 are not required for ...

Page 37: ...htening torque for the mounting screws Item Mounting SWK 005 SWK 011 5 Alignment pin Ø 3 x 8 Ø 3 x 10 8 Mounting screw according to standard M3 x 25 DIN EN ISO 4762 Strength class 8 8 Max tightening torque Nm 1 13 Threadlocker Loctite 222 Mount adapter plate shown as an example to SWA illustrated on SWA 011 Ø Clean mounting surfaces on SWA 1 and adapter plate 2 Ø Insert the adapter plate 2 with tw...

Page 38: ...the mounting surfaces on the robot 1 and SWK 3 Ø For mounting on a robot without ISO flange interface Mount adapter plate between robot 1 and SWK 3 Ø Insert alignment pin 2 in SWK 3 Ø Apply screw lock to screws 4 Ø Align SWK with alignment pin 2 on robot and insert SWK 3 with centering collar 5 into the fitting bore on the robot 1 Ø Secure SWK 3 with screws 4 to the robot 1 Observe the tightening ...

Page 39: ...matic feed throughs are to be used on SWA 007 observe chapter Axial pneumatic feed throughs 62 Ø Clean mounting patterns on SWA 2 and adapter plate 4 Ø Insert the adapter plate 4 with two dowel pins 3 or one dowel pin and a centering plate into the bores provided for this purpose Ø Secure the adapter plate 4 to the SWA 2 from above or below with screws 1 Ø Mount the end effector ...

Page 40: ...icable documents 7 Mounting on robot for SWK 011HM Ø Clean the mounting patterns on the robot 1 adapter plate 3 and SWK 6 Ø Insert dowel pin 2 into adapter plate 3 Ø Apply screw lock to screws 4 Ø Insert the adapter plate 3 with dowel pin 2 into the bore on the robot Ø Secure the adapter plate 3 to the robot 1 with screws 4 Observe the tightening torque for the mounting screws Ø Guide the cable 5 ...

Page 41: ...e adapter plate 3 Ø Apply screw lock to screws 7 Ø Fasten SWK 6 to adapter plate 3 with screws 7 Observe the tightening torque for the mounting screws Item Mounting SWK 011HM 7 Mounting screw according to standard M3 x 30 DIN EN ISO 4762 Strength class 12 9 Max tightening torque Nm 1 13 Threadlocker Loctite 222 ...

Page 42: ...011 Ø Clean mounting surfaces on SWA 1 and adapter plate 2 Ø Insert the adapter plate 2 with two alignment pins and or with one alignment pin and the centering collar on the adapter plate 4 into the holes provided for this purpose Ø Fasten the adapter plate 2 to the SWA 1 with screws 3 Ø Mount the end effector ...

Page 43: ...pin 2 into adapter plate 3 Ø Apply screw lock to screws 4 Ø Insert the adapter plate 3 with dowel pin 2 into the bore on the robot Ø Secure the adapter plate 3 to the robot 1 with screws 4 Observe the tightening torque for the mounting screws NOTE Depending on the type of adapter plate 3 the SWK 7 is mounted on the adapter plate with or without the cover plate 6 If the adapter plate replaces the c...

Page 44: ... to adapter plate 3 with screws 8 Observe the tightening torque for the mounting screws Item Mounting SWK 020 SWK 021 SWK 041 SWK 060 5 Alignment pin Ø 4 x 14 Ø 6 x 20 8 Mounting screw according to standard M4 x 30 M4 x 35 M5 x 40 DIN EN ISO 4762 M6x40 DINEN ISO10642 DIN EN ISO 10642 Strength class 10 9 8 8 10 9 Max tightening torque Nm 1 13 5 08 6 78 Threadlocker Loctite 222 Loctite 242 ...

Page 45: ...d on SWA 021 Ø Clean mounting surfaces on SWA 1 and adapter plate 2 Ø Insert the adapter plate 2 with two alignment pins and or with one alignment pin and the centering collar on the adapter plate 4 into the holes provided for this purpose Ø Fasten the adapter plate 2 to the SWA 1 with screws 3 Ø Mount the end effector ...

Page 46: ...cable documents 7 Mounting on robot shown as an example on SWK 021HM Ø Clean the mounting patterns on the robot 1 adapter plate 3 and SWK 6 Ø Insert dowel pins 2 into adapter plate 3 Ø Apply screw lock to screws 4 Ø Insert the adapter plate 3 with dowel pins 2 into the bores on the robot Ø Secure the adapter plate 3 to the robot 1 with screws 4 Observe the tightening torque for the mounting screws...

Page 47: ...dapter plate 3 Ø Apply screw lock to screws 7 Ø Fasten SWK 6 to adapter plate 3 with screws 7 Observe the tightening torque for the mounting screws Item Mounting SWK 020HM 021HM 7 Mounting screw according to standard M4 x 30 DIN EN ISO 4762 Strength class 12 9 Max tightening torque Nm 1 69 Threadlocker Loctite 222 ...

Page 48: ...d on SWA 021 Ø Clean mounting surfaces on SWA 1 and adapter plate 2 Ø Insert the adapter plate 2 with two alignment pins and or with one alignment pin and the centering collar on the adapter plate 4 into the holes provided for this purpose Ø Fasten the adapter plate 2 to the SWA 1 with screws 3 Ø Mount the end effector ...

Page 49: ... be found in the catalog data sheet Applicable documents 7 Mounting on robot for SWK 040Q Ø Clean the mounting patterns on the robot 1 adapter plate 3 and SWK 7 Ø Insert dowel pin 2 into adapter plate 3 Ø Apply screw lock to screws 4 Ø Insert the adapter plate 3 with dowel pin 2 into the bore on the robot Ø Secure the adapter plate 3 to the robot 1 with screws 4 Observe the tightening torque for t...

Page 50: ...er plate Ø Apply screw lock to screws 7 Ø Fasten SWK 6 to adapter plate 3 with screws 7 Observe the tightening torque for the mounting screws Item Mounting SWK 040Q 5 Alignment pin Ø 6 x 20 7 Mounting screw according to standard M5 x 45 DIN EN ISO 4762 Strength class 12 9 Max tightening torque Nm 5 88 Threadlocker Loctite 242 ...

Page 51: ...late 3 to the robot 1 with screws 4 Observe the tightening torque for the mounting screws NOTE Depending on the type of adapter plate 3 the SWK 7 is mounted on the adapter plate with or without the cover plate 6 If the adapter plate replaces the cover plate the cover plate must be removed Ø In the event that the cover plate 6 has to be removed Loosen screws 8 and remove cover plate 6 from the SWK ...

Page 52: ...adapter plate Ø Apply screw lock to screws 8 Ø Secure SWK 7 to adapter plate 3 with screws 8 Observe the tightening torque for the mounting screws Item Mounting SWK 071 5 Alignment pin Ø 6 x 20 8 Mounting screw according to standard M6 x 40 DIN EN ISO 4762 Strength class 8 8 Max tightening torque Nm 10 17 Threadlocker Loctite 242 ...

Page 53: ...ample on SWA 040Q Ø Clean mounting surfaces on SWA 1 and adapter plate 2 Ø Insert the adapter plate 2 with two alignment pins and or with one alignment pin and the centering collar on the adapter plate 4 into the holes provided for this purpose Ø Fasten the adapter plate 2 to the SWA 1 with screws 3 Ø Mount the end effector ...

Page 54: ... the mounting surfaces on the robot 1 and SWK 3 Ø For mounting on a robot without ISO flange interface Mount adapter plate between robot 1 and SWK 3 Ø Insert alignment pin 2 in SWK 3 Ø Apply screw lock to screws 4 Ø Align SWK with alignment pin 2 on robot and insert SWK 3 with centering collar 5 into the fitting bore on the robot 1 Ø Secure SWK 3 with screws 4 to the robot 1 Observe the tightening...

Page 55: ...046 Ø Clean mounting surfaces on SWA 1 and adapter plate 2 Ø Insert the adapter plate 2 with two alignment pins and or with one alignment pin and the centering collar on the adapter plate 4 into the holes provided for this purpose Ø Fasten the adapter plate 2 to the SWA 1 with screws 3 Ø Mount the end effector ...

Page 56: ...ounting surfaces on the robot 1 and SWK 3 Ø For mounting on a robot without ISO flange interface Mount adapter plate between robot 1 and SWK 3 Ø Insert alignment pin 2 in SWK 3 Ø Apply screw lock to screws 4 Ø Align SWK with alignment pin 2 on robot and insert SWK 3 with centering collar 5 into the fitting bore on the robot 1 Ø Secure SWK 3 with screws 4 to the robot 1 Observe the tightening torqu...

Page 57: ...d on SWA 110 Ø Clean mounting surfaces on SWA 1 and adapter plate 2 Ø Insert the adapter plate 2 with two alignment pins and or with one alignment pin and the centering collar on the adapter plate 4 into the holes provided for this purpose Ø Fasten the adapter plate 2 to the SWA 1 with screws 3 Ø Mount the end effector ...

Page 58: ...essed air leads to increased wear End the fail safe operation as soon as possible To do this restore the compressed air supply or stop operation of the machine automated system to eliminate the cause of the failure After a fail safe operation check the system for damage and monitor the resumption of normal operation for proper functioning NOTE Observe the requirements for the compressed air supply...

Page 59: ...nual en 389456 59 5 3 2 SWS 001 Dimensions of the compressed air connections SWS Pneumatic feed throughs Air supply lock and unlock 001 4x M5 M3 Pneumatic connection SWK 001 1 Air supply lock 2 Air supply unlock 3 Port for pneumatic feed through ...

Page 60: ...acement due to the tool rack or the robot the product can wear out faster or become damaged beyond repair after a short time Ensure sufficient compensation in the direction of the release bolt which compensates for the separation of SWK and SWA Min distance when locking mm 1 5 Max distance when locking mm 3 Dimensions of the compressed air connections SWS Pneumatic feed throughs Air supply lock an...

Page 61: ... the compressed air connections SWS Pneumatic feed throughs Air supply lock and unlock 007 5x M5 M5 Pneumatic connection SWK 007 1 Air supply lock with pneumatic screw connection 2 Port for pneumatic feed through 3 Air supply unlock with pneumatic screw connection contained in accessory kit ...

Page 62: ... of the radial connections Axial pneumatic feed throughs on SWA 007 1 Axial port for pneumatic feed through 2 Radial port for pneumatic feed through Ø Remove screws on the bottom of the SWA from the axial ports for pneumatic feed through 1 Ø Seal the axial ports for pneumatic feed through 1 with O rings from the accessory kit Ø Close the radial ports for pneumatic feed through 2 with plugs ...

Page 63: ...5 SWS 011 Dimensions of the compressed air connections SWS Pneumatic feed throughs Air supply lock and unlock 011 6x M5 M5 Pneumatic connection SWK 011 1 Air supply lock 2 Air supply unlock 3 Port for pneumatic feed through 4 Pneumatic feed through with rubber bushing ...

Page 64: ...ompressed air connections SWS Pneumatic feed throughs Air supply lock and unlock 011HM 6x G1 8 G1 8 Pneumatic connection SWK 011HM 1 Air supply lock with pneumatic screw connection 2 Air supply unlock with pneumatic screw connection 3 Port for pneumatic feed through with pneumatic screw connection ...

Page 65: ...ghs Air supply lock and unlock 020 12x M5 M5 021 8x G1 8 M5 041 6x G3 8 4x G1 8 G1 8 060 8x G1 8 G1 8 NOTE The rubber bushings are located at the SWS 020 in SWA and not as shown here in SWK Pneumatic connection shown as an example on SWK 021 1 Air supply lock 2 Air supply unlock 3 Port for pneumatic feed through 4 Pneumatic feed through with rubber bushing ...

Page 66: ...s SWS Pneumatic feed throughs Air supply lock and unlock 020HM 12x G1 8 G1 8 021HM 6x G1 8 2x G1 4 G1 8 SWK 020HM SWK 021HM Pneumatic connection SWS 020HM 021HM 1 Air supply lock with pneumatic screw connection 2 Air supply unlock with pneumatic screw connection 3 Port for pneumatic feed through with pneumatic screw connection ...

Page 67: ...SWS 040Q 071 Dimensions of the compressed air connections SWS Pneumatic feed throughs Air supply lock and unlock 040Q 8x G1 8 G1 8 071 8x G1 4 G1 8 SWK 040Q SWK 071 Pneumatic connection SWK 040Q 071 1 Air supply lock 2 Air supply unlock 3 Port for pneumatic feed through ...

Page 68: ...en 389456 5 3 10 SWS 046 Dimensions of the compressed air connections SWS Pneumatic feed throughs Air supply lock and unlock 046 G1 8 Pneumatic feed through possible with optional modules Pneumatic connection SWK 046 1 Air supply unlock 2 Air supply lock ...

Page 69: ...sed air connections SWS Pneumatic feed throughs Air supply lock and unlock 076 5x G3 8 G1 8 110 8x G3 8 G1 8 160 5x G3 8 4x G1 2 G1 8 SWK 076 SWK 110 SWK 160 Pneumatic connection SWK 076 110 160 1 Air supply lock 2 Air supply unlock 3 Port for pneumatic feed through 4 Pneumatic feed through with rubber bushing ...

Page 70: ...ons 5 4 1 Overview of sensors The piston stroke control checks whether the locking mechanism is locked or unlocked Depending on the size the piston stroke control is integrated or can be mounted externally The presence monitoring of the SWA checks whether SWK and SWA are coupled or not A sensor is attached to the SWK for this purpose A presence signal is transmitted on contact with the sensor targ...

Page 71: ...y apply compressed air to the pneumatic connection when the SWK is mounted on the robot CAUTION The sensor adjustment can be lost Do not move or remove sensors from the sensor assembly The sensors are preset at the factory NOTE The sizes SWS 007 SWS 011HM SWS 020HM SWS 021HM SWS 040Q SWS 046 SWS 076 SWS 110 and SWS 160 can be equipped with an integrated piston stroke control If the integrated pist...

Page 72: ... on SWK 160 Sensors for unlocking 1 and locking 2 monitoring are mounted and preset at the factory In case of retrofitting Mount and check sensors Change sensors 103 Ø Connect the sensor cable to the robot control system Ø Switch on energy supply Ø Lock and unlock the locking piston and check the signals of the sensors ...

Page 73: ...ke control for hollow wrist robots Sensors for unlocking 1 and locking 2 monitoring are mounted and preset at the factory In case of retrofitting Mount and check sensors Change sensors 103 Ø Connect the sensor cable to the robot control system Ø Switch on energy supply Ø Lock and unlock the locking piston and check the signals of the sensors ...

Page 74: ...e Mechanical connection 33 Further information on the adapter plate design and precise manufacturing instructions can be found in the catalog data sheet Applicable documents 7 5 4 3 1 SWS 011 020 021 Prepare sensor installation Ø Place the SWA in the storage rack secure and uncouple it Ø Switch off the power supply and ensure that there is no residual energy in the system Ø Remove the compressed a...

Page 75: ...assembly on SWK Mount sensor assembly on SWK Ø Push the sleeve for detection shaft 4 into the sensor assembly 1 up to the stop Ø Apply the primer for the screw lock to the detection shaft 5 and briefly allow it to dry Ø Apply screw lock to detection shaft 5 Ø Carefully push the detection shaft 5 into the sensor assembly 1 up to the stop Ø Align the sensor assembly 1 with the dowel pin 2 on the SWK...

Page 76: ...ightening torque 1 36 Nm Check and adjust sensors Check detection shafts and sensors Ø Look at the sensor assembly from above Ø Make sure that the detection shaft and sensors are not touching each other readjust the distance if necessary Ø Connect the sensor cable to the robot control system Ø Connect all compressed air lines Ø Switch on energy supply Ø Lock and unlock the locking piston and check...

Page 77: ...4 The dowel pin and screws depend on the robot and are not included in the scope of delivery Ø Mount the SWK 5 to the adapter plate for sensor assembly 3 with screws 6 Observe the wrench size of the hexagon socket wrench and the max tightening torque of the mounting screws for each size see table Mounting the SWK to the adapter plate for sensor assembly Wrench sizes and tightening torques 84 SWK c...

Page 78: ...sidual energy in the system Ø Remove the compressed air hose Ø Disassemble the SWK from the robot and safely set the SWK aside Removing the product from the robot arm 90 Remove cover plate Ø Loosen screws 2 and carefully remove the cover plate 1 from the SWK 4 Make sure that the O ring 3 remains in the SWK 4 Prepare sensor assembly Ø Check the O ring 2 in the sensor assembly 1 and lubricate if nec...

Page 79: ...ubricants greasing areas 89 Ø Carefully push the detection shaft 5 into the sensor assembly 1 up to the stop Ø Remove adhesive tape from the thread of the detection shaft 6 Ø Apply primer for the screw lock on the thread 6 of the detection shaft and briefly allow it to dry Ø Apply screw lock to thread 6 Ø Align the sensor assembly 1 with the dowel pin 2 on the SWK 3 Ø Secure sensor assembly 1 to S...

Page 80: ... detection shaft from above with a hexagon socket wrench 2 Observe the wrench size of the hexagon socket wrenches 1 and 2 and the max tightening torque of the mounting screws for each size see table Mounting detection shaft Wrench sizes and tightening torques 84 Check and adjust sensors Check detection shafts and sensors Ø Look at the sensor assembly from above ...

Page 81: ...and sensors are not touching each other readjust the distance if necessary Connect sensor cable Ø Connect sensor cables 1 and 2 to sensors and to robot control system Ø Connect all compressed air lines Ø Switch on energy supply Ø Lock and unlock the locking piston and check the signals of the sensors ...

Page 82: ...4 The dowel pin and screws depend on the robot and are not included in the scope of delivery Ø Mount the SWK 5 to the adapter plate for sensor assembly 3 with screws 6 Observe the wrench size of the hexagon socket wrench and the max tightening torque of the mounting screws for each size see table Mounting the SWK to the adapter plate for sensor assembly Wrench sizes and tightening torques 84 SWK c...

Page 83: ...that there is no residual energy in the system Ø Remove the compressed air hose Ø Disassemble the SWK from the robot and safely set the SWK aside Removing the product from the robot arm 90 Ø Only for SWS 076 Mounting kit for sensor 4 included in scope of delivery fasten to the SWK with screws 5 Ø Only for SWS 076 Guide the sensor cable downwards between the mounting kit 4 and SWK 3 Ø Apply screw l...

Page 84: ...ket wrench mm Max tightening torque Nm Cam Detection shaft 011 3 2 5 1 36 020 4 2 5 1 36 021 4 2 5 1 36 041 4 3 1 69 060 5 3 1 69 071 5 3 1 69 Mount SWK to adapter plate for sensor assembly SWS Wrench size SW of hexagon socket wrench mm Fastening screw Max tightening torque Nm 011 2 M3 1 13 020 2 5 M4 1 13 021 2 5 M4 1 13 041 3 M5 5 08 060 4 M6 6 78 071 4 M6 6 78 ...

Page 85: ...y one optional module can lead to an imbalance of the quick change system Ø Place the SWA in the storage rack secure and uncouple it Ø Switch off the power supply and ensure that there is no residual energy in the system Ø Remove the compressed air hose Ø Disassemble the SWK from the robot and safely set the SWK aside Removing the product from the robot arm 90 Ø Check the mounting patterns of SWK ...

Page 86: ...duct if necessary and replace seals Replace seals 96 Compressed air in the locking or unlocking connection cannot escape Vent connection Pneumatic connection 58 Release the locking manually NOTE If the compressed air supply fails the SWK 001 can be unlocked manually and the SWA can be disconnected from the SWK Release locking on SWS 001 manually Ø Move the product to the deposit position Ø Remove ...

Page 87: ...ssary 6 3 Locking or unlocking signal faulty Possible cause Corrective action Sensor defective or incorrectly adjusted Adjust or replace sensor Change sensors 103 Sensor cable damaged or connection loose Check cables and connections for damage and replace if necessary 6 4 Tool presence monitoring faulty Possible cause Corrective action Sensor defective or incorrectly adjusted Adjust or replace sen...

Page 88: ...interval Maintenance work in dirty environments or with a tool change 1 time per minute tool change 1 time per week weekly monthly Clean all parts thoroughly check for damage and wear and grease with a lint free cloth or brush Clean and lubricate product 91 Check product for tightness replace seals if necessary Replace seals 96 Check alignment pins for damage and wear replace if necessary Change a...

Page 89: ...ctions Avoid skin contact with lubricants Wear safety goggles and protective gloves Wash hands thoroughly after contact with grease SCHUNK recommends the listed lubricant Lubricant point Lubricant Male coupling Mobilgrease XHP 222 Special Centering locking sleeve Locking ball Cam Alignment pin All seals Magnalube Detection shaft During maintenance treat all greased areas with lubricant Thinly appl...

Page 90: ...ff the energy supply and secure against re connection Ensure that no residual energy remains in the system Only carry out maintenance work when the tool is placed in the storage rack or secured against falling Disassemble the product from the robot Ø Place the SWA 7 in the storage rack secure and uncouple it Ø Switch off and deactivate all activated supply circuits e g electrical air water etc Ø L...

Page 91: ...mble the SWK from the robot and safely set the SWK aside Removing the product from the robot arm 90 SWK SWA Clean and lubricate SWS 001 Ø Remove lubricant residues and dirt from the centering locking sleeve 1 on the SWA and the locking mechanism 2 and alignment pin 3 on the SWK Ø Lubricate the centering locking sleeve 1 on the SWA Lubricants greasing areas 89 NOTE Locking mechanism 2 and alignment...

Page 92: ...y and ensure that there is no residual energy in the system Ø Remove the compressed air hose Ø Disassemble the SWK from the robot and safely set the SWK aside Removing the product from the robot arm 90 Check that the locking balls on the SWK can move Ø Check locking balls Each ball must move freely in the ball bearing Ø Loosen stuck balls and clean with a clean cloth ...

Page 93: ...idues and dirt from the alignment pin 1 bearing race 2 alignment pin bushings 3 and locking mechanism 4 Ø Generously lubricate the locking mechanism 4 and alignment pin 1 Lubricants greasing areas 89 NOTE The alignment pin bushings and the bearing race are sufficiently lubricated at the factory and do not need to be relubricated ...

Page 94: ... Ø Remove the compressed air hose Ø Disassemble the SWK from the robot and safely set the SWK aside Removing the product from the robot arm 90 Check that the locking balls on the SWK can move Ø Check locking balls Each ball must move freely in the ball bearing Ø Loosen stuck balls and clean with a clean cloth Clean SWS with a lint free cloth Ø Remove lubricant residues and dirt from the alignment ...

Page 95: ...he alignment pin bushing 1 and bearing race 2 and remove lubricant residues and dirt Lubricate locking mechanism and alignment pin on SWK Ø Generously lubricate the locking mechanism 1 and alignment pin 2 Lubricants greasing areas 89 NOTE The alignment pin bushings and the bearing race are sufficiently lubricated at the factory and do not need to be relubricated ...

Page 96: ...n the available seal kits in chapter Accessories 8 The seals on the pneumatic feed throughs in the SWK may look as follows O ring A Rubber bushings B Rubber bushings with sleeve C Seals on the pneumatic feed throughs SWS A B C 001 X 005 X 007 X 011 X 011HM X 020 X 020HM X 021 X 021HM X 040Q X 041 X X 046 X 071 X 076 X 110 X 160 X ...

Page 97: ...f the power supply and ensure that there is no residual energy in the system Ø Remove the compressed air hose Ø Disassemble the SWK from the robot and safely set the SWK aside Removing the product from the robot arm 90 Ø Remove damaged O ring 1 Ø Lightly lubricate the new O ring 1 Lubricants greasing areas 89 Ø Carefully insert the O ring 1 into the bore up to the stop ...

Page 98: ... that there is no residual energy in the system Ø Remove the compressed air hose Ø Disassemble the SWK from the robot and safely set the SWK aside Removing the product from the robot arm 90 Ø Remove damaged rubber bushing 1 Ø Lightly lubricate the new rubber bushing 1 Lubricants greasing areas 89 Ø Carefully insert the rubber bushing 1 into the bore with the flat end up to the stop The conical end...

Page 99: ...dual energy in the system Ø Remove the compressed air hose Ø Disassemble the SWK from the robot and safely set the SWK aside Removing the product from the robot arm 90 Ø Remove damaged rubber bushing 1 and sleeve 2 Ø Lightly lubricate the new rubber bushing 1 Lubricants greasing areas 89 Ø Carefully insert the rubber bushing 1 into the bore with the flat end up to the stop The conical end points u...

Page 100: ...nment pins 7 7 1 1 Disassemble external alignment pins Remove alignment pins Ø Place the SWA in the storage rack secure and uncouple it Ø Switch off the power supply and ensure that there is no residual energy in the system Ø Remove the compressed air hose Ø Disassemble the SWK from the robot and safely set the SWK aside Removing the product from the robot arm 90 Ø Remove all lubricant residue and...

Page 101: ...f the alignment pin 3 cannot be loosened remove the alignment pin 3 from below Disassemble external alignment pins from below 101 7 7 1 2 Disassemble external alignment pins from below Alternative option for disassembly of the alignment pin Ø Turn SWK 4 over Ø Loosen set screw 3 with ratchet 1 by turning counterclockwise Ø Remove the alignment pins 2 downwards ...

Page 102: ...re for alignment pins 5 and tighten with ratchet 1 Permissible tightening torque 6 8 Nm Ø Lubricate the new alignment pin 3 Lubricants greasing areas 89 7 7 2 Internal alignment pins NOTE The sizes SWS 005 SWS 011 SWS 020 SWS 021 SWS 040Q SWS 041 SWS 060 and SWS 071 are mounted with internal alignment pins They are installed in the male coupling Ø Please contact SCHUNK for the replacement of inter...

Page 103: ...air connections during assembly of the piston stroke control as parts may come loose or the adapter plate or the O ring may be damaged Only apply compressed air to the pneumatic connection when the SWK is mounted on the robot NOTE The integrated piston stroke control can be retrofitted if required The installation for retrofitting is carried out in the same way as for replacement Contact SCHUNK fo...

Page 104: ...obot arm 90 Ø Check sensor cable for damage replace if necessary Ø For retrofitting Remove the protective cover from the bores on the SWK For replacement Loosen the mounting screws and remove the sensor assembly with damaged sensor from SWK Ø Secure the new sensor assembly lock 2 or monitoring of unlocking 3 to the SWK 1 with screws 4 Max tightening torque 1 4 Nm Ø Connect cable to sensor assembly...

Page 105: ...m the robot arm 90 Ø Lock and unlock the locking piston and check the signals of the sensors Ø Check sensor cable for damage replace if necessary Ø Switch off the power supply and ensure that there is no residual energy in the system Ø Loosen the screws 1 Ø Loosen screws 5 and remove adapter plate 2 from SWK 4 IMPORTANT Damage to the sensor cable possible When removing the adapter plate make sure ...

Page 106: ...crew lock to screw 3 and fasten sensor 6 or 7 with screw 3 WARNING Risk of damage to the sensor Carefully tighten screw 3 until screw 3 engages in the sensor thread then tighten another 1 4 turn Check new sensor assembly Ø Connect all compressed air lines Ø Secure the adapter plate 2 to SWK 4 with screws 5 Max tightening torque 1 13 Nm Ø Guide the sensor cable along the cable ducts in the adapter ...

Page 107: ...m the robot arm 90 Ø Lock and unlock the locking piston and check the signals of the sensors Ø Check sensor cable for damage replace if necessary Ø Switch off the power supply and ensure that there is no residual energy in the system Ø Loosen screws 4 and remove adapter plate 1 from SWK 3 IMPORTANT Damage to the sensor cable possible When removing the adapter plate make sure that the sensor cable ...

Page 108: ...d sensor 2 or 5 in this position and connect sensor cable The sensor LED will illuminate Ø Apply screw lock to the thread of the sensor 2 or 5 Ø Tighten the hexagon nut 6 Max tightening torque 0 9 Nm Check new sensor assembly Ø Connect all compressed air lines Ø Attach the adapter plate 1 to the SWK 3 with screws 4 Max tightening torque 1 7 Nm Ø Secure the sensor cable to the adapter plate 1 Ø Loc...

Page 109: ...the SWA in the storage rack secure and uncouple it Ø Loosen screws 4 and remove SWK 3 from the adapter plate for sensor assembly 1 Ø Check sensor cable for damage replace if necessary Ø Lock and unlock the locking piston and check the signals of the sensors Ø Switch off the power supply and ensure that there is no residual energy in the system Ø Remove the compressed air hose Ø Loosen screw 6 and ...

Page 110: ...if necessary Ø Apply screw lock to screw 6 and fasten sensor 5 with screw 6 IMPORTANT Risk of damage to the sensor Carefully screw in screw 6 until screw 6 touches the sensor then tighten an additional approx 1 4 turn Check new sensor assembly Ø Switch on power supply The sensor LED will illuminate Sensor signal is ON Ø Mount the SWK 3 to the adapter plate for sensor assembly 1 with screws 4 Obser...

Page 111: ...Ø Loosen screws 4 and remove SWK 3 from the adapter plate for sensor assembly 1 Ø Check sensor cable for damage replace if necessary Ø Lock and unlock the locking piston and check the signals of the sensors Ø Switch off the power supply and ensure that there is no residual energy in the system Ø Remove the compressed air hose Ø Remove sensor cable 5 Ø Loosen the hexagon nut 7 and unscrew the senso...

Page 112: ... screw lock to the thread of the sensor 6 Ø Tighten the hexagon nut 7 Max tightening torque 2 3 Nm Check new sensor assembly Ø Connect the sensor cable 5 Ø Switch on power supply The sensor LED will illuminate Sensor signal is ON Ø Connect all compressed air lines Ø Mount the SWK 3 to the adapter plate for sensor assembly 1 with screws 4 Observe the wrench size of the hexagon socket wrench and the...

Page 113: ... the ferromagnetic object against the sensor surface and test the presence monitoring LED Ø Switch off the power supply and ensure that there is no residual energy in the system Ø Remove the compressed air hose Ø Loosen screw 1 Ø Remove sensor 2 Ø Only for SWK 076 Guide new sensor cable out from between mounting kit and SWK Ø Apply screw lock to screw 1 Ø Fasten sensor 2 with screw 1 in recess 3 M...

Page 114: ...couple it Ø Remove the compressed air hose Ø Switch off the power supply and ensure that there is no residual energy in the system Ø Disassemble the SWK from the robot and safely set the SWK aside Removing the product from the robot arm 90 Ø Check pin block for deposits and blackened spring contacts Example illustration for deposits or blackened spring contacts on the pin block Ø Remove deposits w...

Page 115: ... feed through module Ø Place the SWA in the storage rack secure and uncouple it Ø Switch off the power supply and ensure that there is no residual energy in the system Ø Remove the compressed air hose Ø Disassemble the SWK from the robot and safely set the SWK aside Removing the product from the robot arm 90 Remove and insert the seal of the electric feed through module Ø Pull off the seal from th...

Page 116: ...al energy in the system Ø Remove the compressed air hose Ø Disassemble the SWK from the robot and safely set the SWK aside Removing the product from the robot arm 90 Replace the rubber bushing of the fluid feed through module Ø Remove damaged rubber bushing 1 Ø Lightly lubricate the new rubber bushing 1 Lubricants greasing areas 89 Ø Carefully insert the rubber bushing 1 into the bore with the fla...

Page 117: ...Maintenance 12 00 SWS Assembly and Operating Manual en 389456 117 7 10 Assembly drawings 7 10 1 SWS 001 Assembly of SWK 001 top and SWA 001 bottom ...

Page 118: ...Maintenance 118 12 00 SWS Assembly and Operating Manual en 389456 7 10 2 SWS 005 Assembly of SWK 005 top and SWA 005 bottom ...

Page 119: ...Maintenance 12 00 SWS Assembly and Operating Manual en 389456 119 7 10 3 SWS 007 Assembly of SWK 007 top and SWA 007 bottom ...

Page 120: ...intenance 120 12 00 SWS Assembly and Operating Manual en 389456 7 10 4 SWS 011 Variant with external piston stroke control Variant without piston stroke control Assembly of SWK 011 top and SWA 011 bottom ...

Page 121: ...Maintenance 12 00 SWS Assembly and Operating Manual en 389456 121 7 10 5 SWS 011HM Assembly of SWK 011HM top and SWA 011 bottom ...

Page 122: ...intenance 122 12 00 SWS Assembly and Operating Manual en 389456 7 10 6 SWS 020 Variant with external piston stroke control Variant without piston stroke control Assembly of SWK 020 top and SWA 020 bottom ...

Page 123: ...Maintenance 12 00 SWS Assembly and Operating Manual en 389456 123 7 10 7 SWS 020HM Assembly of SWK 020HM top and SWA 020 bottom ...

Page 124: ...intenance 124 12 00 SWS Assembly and Operating Manual en 389456 7 10 8 SWS 021 Variant with external piston stroke control Variant without piston stroke control Assembly of SWK 021 top and SWA 021 bottom ...

Page 125: ...Maintenance 12 00 SWS Assembly and Operating Manual en 389456 125 7 10 9 SWS 021HM Assembly of SWK 021HM top and SWA 021 bottom ...

Page 126: ...Maintenance 126 12 00 SWS Assembly and Operating Manual en 389456 7 10 10 SWS 040Q Assembly of SWK 040Q top and SWA 040Q bottom ...

Page 127: ...intenance 12 00 SWS Assembly and Operating Manual en 389456 127 7 10 11 SWS 041 Variant with external piston stroke control Variant without piston stroke control Assembly of SWK 041 top and SWA 041 bottom ...

Page 128: ...Maintenance 128 12 00 SWS Assembly and Operating Manual en 389456 7 10 12 SWS 046 Assembly of SWK 046 top and SWA 046 bottom ...

Page 129: ...intenance 12 00 SWS Assembly and Operating Manual en 389456 129 7 10 13 SWS 060 Variant with external piston stroke control Variant without piston stroke control Assembly of SWK 060 top and SWA 060 bottom ...

Page 130: ...intenance 130 12 00 SWS Assembly and Operating Manual en 389456 7 10 14 SWS 071 Variant without piston stroke control Variant with external piston stroke control Assembly of SWK 071 top and SWA 071 bottom ...

Page 131: ...Maintenance 12 00 SWS Assembly and Operating Manual en 389456 131 7 10 15 SWS 076 Assembly of SWK 076 top and SWA 076 bottom ...

Page 132: ...Maintenance 132 12 00 SWS Assembly and Operating Manual en 389456 7 10 16 SWS 110 Assembly of SWK 110 top and SWA 110 bottom ...

Page 133: ...Maintenance 12 00 SWS Assembly and Operating Manual en 389456 133 7 10 17 SWS 160 Assembly of SWK 160 top and SWA 160 bottom ...

Page 134: ...claration is rendered invalid if modifications are made to the product Product designation Quick Change System SWS pneumatic The partly completed machine may not be put into operation until conformity of the machine into which the partly completed machine is to be installed with the provisions of the Machinery Directive 2006 42 EC is confirmed The manufacturer agrees to forward on demand the relev...

Page 135: ...ration 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 Operating positions X 1 1 8 Seating X 1 2 Control Systems 1 2 1 Safety and reliability of control systems X 1 2 2 Control devices X 1 2 3 Starting X 1 2 4 Stopping X 1 2 4 1 Normal stop X 1 2 4 2 Operational stop X 1 2 4 3 Emergency stop X 1 2 4 4 Assembly of mac...

Page 136: ...djustable 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 Static electricity X 1 5 3 Energy supply other than electricity X 1 5 4 Errors of fitting X 1 5 5 Extreme temperatures X 1 5 6 Fire X 1 5 7 Explosion X 1 5 8 Noise X 1 5 9 Vibrations X 1 5 10 Radiation X 1 5 11 External radiation X 1 5 12 Laser r...

Page 137: ...fety requirements 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 and other impact machinery X 2 3 Machinery for working wood and material with similar physical characteristics X 3 Supplementary essential health and safety requirements to offset hazards due...