Servo Electrical Swivel Unit Type PRH Assembly and Operating Manual

Transcription

1 Servo Electrical Swivel Unit Type PRH Assembly and Operating Manual 01/PRH/en/ /CW Document last updated:

2 Translation of the original manual Dear Customer, Congratulations on choosing a SCHUNK product. By choosing SCHUNK, you have opted for the highest precision, top quality and best service. You are going to increase the process reliability of your production and achieve best machining results to the customer s complete satisfaction. SCHUNK products are inspiring. AssemblyOur detailed assembly and operation manual will support you. Do you have further questions? You may contact us at any time even after purchase. You can reach us directly at the mentioned addresses in the last chapter of these instructions. Kindest Regards, Your SCHUNK GmbH & Co. KG Precision Workholding Systems Bahnhofstr D Lauffen/Neckar, Germany Tel Fax automation@de.schunk.com /PRH/en/ /CW

3 Table of contents Table of contents 1 About this manual Purpose/validity Target groups Applicable documents Symbols in this manual Terms used in this manual Basic safety notes Intended use Environmental and operating conditions Controlled production Condition of the inputs/ outputs (I/O) Protective equipment Constructional changes, attachments or modifications Special standards Personnel qualification Safety-conscious working Notes on particular risks Warranty Scope of delivery Technical Data Basic data General Technical Data for all sizes Technical Data of Type Technical Data of Type Technical Data of Type Factory settings / DEFAULT Value Power supply requirements Description of the module Structure Functional principle /PRH/en/ /CW 3

4 Table of contents 7 Assembly and commissioning Mechanical Connection Example of mounting Electrical connection USB parameterization interface Interface CAN Interface Profibus DP Electrical connection digital inputs DEFAULT and BOOT function System integration System structure SCHUNK Motion protocol Most important commands Troubleshooting Module does not move The module's motor is not turning Module stops abruptly Maintenance and care Maintenance intervals Dismantling the module EC declaration of incorporation /PRH/en/ /CW

5 About this manual 1 About this manual 1.1 Purpose/validity This manual is part of the module and describes the safe and proper use during all phases of operation. This manual is valid only for the module specified on the front page. 1.2 Target groups Target group Manufacturer, operator Skilled personnel, fitter Task Keep this manual available for the personnel at all times. Require personnel to read and observe this manual and the applicable documents, especially the safety notes and warnings. Read, observe and follow this manual and the applicable documents, especially the safety notes and warnings. Table Applicable documents You can find the following documents on our homepage: Document Catalog Software manual (MotionControl.pdf) General terms of bussiness Purpose Technical data or application parameters of the module and information on accessories. The last version is always valid. More detailed information about the parameters and special features of the individual bus systems. Including notes on the warranty. Table 2 01/PRH/en/ /CW 5

6 About this manual 1.4 Symbols in this manual To give you quick access to information, the following symbols will be used in this guide: Symbol DANGER WARNING Designation Dangers for persons. Nonobservance causes death or serious injuries. Dangers for persons. Nonobservance can cause death or serious injuries NOTICE Information on avoiding material damage, for explanation or to optimize the work processes. Prerequisite for a handling instruction. Handling instruction, also measures in a warning or note. Step-by-step handling instruction. Observe the order Component/spare part represented in a graphic. Part/detail shown in a graphic which is part of a spare part or which must be provided by the customer. (10), (/10/) Reference in the text or in a handling instruction to a part that is represented in a graphic. Master M Slave S Parameter will be transferred from Master M to Slave S Table Terms used in this manual Term Cycle Meaning A cycle includes the following movement: One rotating motion (1x to specified position and 1x back to initial position) Table /PRH/en/ /CW

7 Basic safety notes 2 Basic safety notes 2.1 Intended use The module was designed for swiveling and rotation of workpieces and objects. The module is intended for installation in a machine. The requirements of the applicable guidelines must be observed and complied with. The module may be used only in the context of its defined application parameters. Any other use or use exceeding that specified is an infringement of use for intended purpose. The manufacturer bears no liability for damage resulting from such use. 2.2 Environmental and operating conditions The module may be used only in the context of its defined application parameters (see chapter 5, page 12 and catalog). Make sure that the environment is clean and the ambient temperature corresponds to the specifications per the catalog. Maintenance intervals. (see chapter 9.1, page 37) Make sure that the environment is free from splash water and vapors as well as from abrasion or processing dust. Excepted are modules that are designed specially for contaminated environments. 01/PRH/en/ /CW 7

8 Basic safety notes 2.3 Controlled production The module represents the state of the art and the recognized safety rules at the time of delivery. However, it can present risks if, for example: The module is not used in accordance with its intended purpose. The module is not installed or maintained properly. The EC Machinery Directive, the VDE directives, the safety and accident-prevention regulations valid at the usage site, or the safety and installation notes are not observed Condition of the inputs/ outputs (I/O) During the run-up of the module, and due to the peculiarities of the used processor, not defined I/O conditions may occur. Do not allow a direct connection with actuators Protective equipment Provide protective equipment per EC Machinery Directive Constructional changes, attachments or modifications Additional drill holes, threads, or attachments that are not offered as accessories by SCHUNK may be attached only with permission of SCHUNK Special standards The following harmonized standards were adhered to: Fast transient events on supply lines and I/O lines (burst) according to IEC/ EN HF power input according to IEC/EN HF irradiation according to IEC/ EN Interference field strength in the 3m absorber chamber according to German version EN 55011:2007 +A2 class A (corresponds to EN :2007) 8 01/PRH/en/ /CW

9 Basic safety notes 2.4 Personnel qualification The assembly, initial commissioning, maintenance, and repair of the module may be performed only by trained specialist personnel. The assembly, initial commissioning, maintenance, and repair of the module may be performed only by trained specialist personnel. Every person called upon by the operator to work on the module must have read and understood the complete Assembly and Operating Manual, especially chapter 2 "Basic safety notes". This applies particularly to occasional personnel such as maintenance personnel. 2.5 Safety-conscious working Avoid any manner of working that may interfere with the function and operational safety of the module. Observe the safety and accident-prevention regulations valid at the usage site. 01/PRH/en/ /CW 9

10 Basic safety notes 2.6 Notes on particular risks Risk of injury from objects falling and being ejected! Provide protective equipment to prevent objects from falling or being ejected, such as processed workpieces, tools, chips, fragments, rejects. Risk of injury when the machine/system moves unexpectedly! Do not move parts by hand when the energy supply is connected. Do not reach into the open mechanism or the movement area of the module. Remove the energy supplies before installation, modification, maintenance, or adjustment work. Perform maintenance, modifications, and additions outside the danger zone. For all work, secure the module against accidental operation /PRH/en/ /CW

11 Warranty 3 Warranty The warranty is valid for 24 months from the delivery date to the production facility under the following conditions: Intended use in 1-shift operation Observation of the maintenance intervals (see chapter 9.1, page 37) Observation of the ambient conditions and operating conditions (see chapter 2.2, page 7) Parts touching the workpiece are not part of the warranty. Also observe our general terms of business. 4 Scope of delivery The scope of delivery includes: Servoelektrische swivelling unit Type PRH in the version ordered USB parametering cable DVD Content of DVD: MCDemo (configuration and commissioning tool) Operating manual in PDF format MotionControl software manual in PDF format USB-driver Accessories The following accessories are available for the module: Schunk-Service-Box SSB Schunk-V4- distributor Bus connection cable Power supply cable Bus terminators Accessories Order accessories separately. For additional accessories, see catalog. 01/PRH/en/ /CW 11

12 Technical Data 5 Technical Data 5.1 Basic data Further technical data can be found in our catalog The most recent version applies General Technical Data for all sizes Reference value Lubrication Ambient temperature range Value for operation [ C( F)] ±0 to +40 for storage [ C( F)] -20 to +60 Harmonic Drive grease SK-2 Relative air humidity [%] 20 to 80 (without condensation) Vibration resistance Shock resistance Table 5 10 Hz to 400 Hz, max. 2.5 g (DIN IEC 68 Part 2-6) 30 g, 11 ms (DIN IEC 68 Part 2-27) Note The values specified in the individual tables refer to an excess winding temperature of 100K at an ambient temperature of 40 C. The values specified in the following tables (technical data for individual sizes) apply to modules which are mounted on an aluminum baseplate /PRH/en/ /CW

13 Technical Data Technical Data of Type 050 Reduction Mechanical operating data weight [kg] 0,75 noise level [db(a)] 70 Rated torque[nm] 0,75 1,5 2,0 Max. torque [Nm] 1,8 3,3 4,8 Protection class IP54 IP54 IP54 Electrical operating data Rated voltage [V DC] Rated current [A eff ] 1,6 1,7 1,3 Max. current [A eff ] 3,0 3,3 2,4 integrated electronics Interface USB X X X CAN * X X X Profibus DP * X X X voltage supply [VDC] nominal power current [A] (logic) 0,5 0,5 0,5 Table 6 * The modules are supplied (at the customer's request) with either with a CAN or Profibus DP interface. 01/PRH/en/ /CW 13

14 Technical Data Technical Data of Type 060 Reduction Mechanical operating data weight [kg] 1,3 noise level [db(a)] 70 Rated torque [Nm] 1,8 2,9 4,2 Max. torque [Nm] 4,5 8,3 11,0 Protection class IP65 IP65 IP65 Electrical operating data Rated voltage [V DC] Rated current [A eff ] 3,7 3,5 2,8 Max. current [A eff ] 7,8 8,2 5,6 integrated electronics Interface USB X X X CAN * X X X Profibus DP * X X X voltage supply [VDC] nominal power current [A] (logic) 0,5 0,5 0,5 Table 7 * The modules are supplied (at the customer's request) with either with a CAN or Profibus DP interface /PRH/en/ /CW

15 Technical Data Technical Data of Type 075 Reduction Mechanical operating data weight [kg] 1,55 noise level [db(a)] 70 Rated torque [Nm] 3,5 4,7 6,8 Max. torque [Nm] 9,0 18,0 28,0 Protection class IP65 IP65 IP65 Electrical operating data Rated voltage [V DC] Rated current [A eff ] 6,5 5,4 4,4 Max. current [A eff ] 14,8 16,4 12,3 integrated electronics Interface USB X X X CAN * X X X Profibus DP * X X X voltage supply [VDC] nominal power current [A] (logic) 0,5 0,5 0,5 Table 8 * The modules are supplied (at the customer's request) with either with a CAN or Profibus DP interface. 5.2 Factory settings / DEFAULT Value Reference DEFAULT Value Interface USB Data rate 9600 Module address 11 Table 9 01/PRH/en/ /CW 15

16 Technical Data 5.3 Power supply requirements Designation Value Output power supply (motor) 24 V DC Power supply for logic 24 V DC +10% / -4%; Residual ripple < 150mVSS; Switching peak < 240mVSS Connection value Number of modules x Rated module current x 1,2 Table 10 Notes: If the module is actuated at high values of speed, accelration and jerk while it is moving into position, voltage peaks can occur due to an energy recovery of the drive during the deceleration/slow down phase. The terminal votage of the power supply can increase beyond the output voltage of the power supply. The used power supply unit has to withstand this overvoltage, and should not switch off its output voltage. Otherwise the module will stop with the error message "ERROR_Motor_Voltage_LOW!, which has to be confirmed. Therefore we recommend that the module will be connected as follows: 1. Connection oft he power supply (logic) of the module to the SPS power supply (e.g. Sitop) 2. Connection oft he module s power supply to a transformer power supply or to a switching power supply (e.g. Murr switching power supply MCS20-230/24 Art.-No ) 3. The ground connections of both power supplies have to be connected with each other /PRH/en/ /CW

17 Description of the module 6 Description of the module 6.1 Structure Figure 1 Item Designation Note /1/ Mounting flange /2/ Drive with gear /3/ Electronics housing /4/ Power supply connection M12-4pin /5/ Field bus input connection M12-5pin /6/ Digital input connection or SCHUNK service interface /7/ Field bus output connection M12-5pin Table 11 M12-12-pin (connected via SCHUNK service box SSB for parameterization via USB or via SCHUNK-V4-M8-M12 distributor for connecting sensors of digital PLC outputs) 01/PRH/en/ /CW 17

18 Description of the module 6.2 Functional principle Environmental interference (H, M, T/ C( F)) Module is moving (Process flow) Actuator Sensors internal Logic (control unit) / communication interface Display Operation Power supply Figure 2 User interface / Control (Master) The actuator (in this case a DC motor per axis) is controlled by the internal logic. The required parameters are transferred from the higher level controller (master) to the internal logic. The following parameters can be transferred from the controller (master) to the internal logic: Current I; Velocity v; Acceleration a Position Notes All possible parameters and the relevant features of the individual bus systems are described in more detail in the document about the SCHUNK Motion protocol (see DVD, document: MotionControl.pdf) /PRH/en/ /CW

19 Assembly and commissioning 7 Assembly and commissioning 7.1 Mechanical Connection WARNING Risk of injury when the machine/system moves unexpectedly! Switch off energy supply. The installation position of the module has been designed so that cable wrapping is not possible. Use suitable connecting elements (adapter plate) to connect the module in the machine / system. Observe the permissible length of engagement. Observe the tightening torque of the screws. Figure 3 Assembly interface Type A B C D E F G H J K L PRH , ,5 M3/5 3,4 33, PRH ,5 33 M4/5 4, ,5 10 PRH ,5 44 M5/7 5,5 52, ,5 15 Table 12 Explanations for Figure 3 (in mm) 01/PRH/en/ /CW 19

20 Assembly and commissioning 7.2 Example of mounting Figure 4 Item Designation /1/ EVG (Electrical Parallel Gripper) /2/ PRH (Servo Electrical Swivel Unit) /3/ SVS-VC (Vision Sensor) Table /PRH/en/ /CW

21 Assembly and commissioning 7.3 Electrical connection Notes The cable color throughout this chapter relates to the use of a SCHUNK connecting cable. NOTICE Damage of electronics is possible! In case of a high payload, dynamic energy may build up. The customer has to take care that the dynamic energy will be discharged. We recommend to use our brake chopper (Type: ACC3EA001 Id-No ) USB parameterization interface The USB communication interface not suitable due to its field bus system characteristics. Only use the USB interface as the parameterization interface. The USB connection cable supplied or the optionally available SCHUNK service box SSB is required, in order to connect the module to a PC Interface CAN Figure 5 Connection diagram: PRH CAN-Bus 01/PRH/en/ /CW 21

22 Assembly and commissioning Pin Designation Function SCHUNK cable color 1 GND GND logic supply brown 2 +24V +24 V logic supply white 3 GND GND power supply blue 4 +24V Power +24 V power supply black Table 14 Pin allocation S1 (power supply) Pin Designation Function SCHUNK cable color 1 shield shield 2 n.c. - 3 CAN_GND CAN_GND yellow 4 CAN_H CAN_H white 5 CAN_L CAN_L brown Table 15 Pin allocation S2 (CAN bus output) Pin Designation Function SCHUNK cable color 1 shield shield 2 n.c. - 3 CAN_GND CAN_GND yellow 4 CAN_H CAN_H white 5 CAN_L CAN_L brown Table 16 Pin allocation S3 (CAN bus input) SUB D socket solder side Pin Function 2 CAN_L 3 CAN_GND 7 CAN_H Table 17 CAN assignment of 9-pin SUB D socket Terminating a module Combining several modules The CAN bus terminator supplied can be used for termination. Screw the CAN bus terminator on S2, if the module is the last bus subscriber. When combining several modules, the signals from module n are looped through to module n /PRH/en/ /CW

23 Assembly and commissioning Interface Profibus DP Figure 6 Connection diagram: PRH Profibus Pin Designation Function SCHUNK cable color 1 GND GND logic supply brown 2 +24V +24 V logic supply white 3 GND GND power supply blue 4 +24V power +24 V power supply black Table 18 Pin allocation S1 (power supply) Pin Designation Function SCHUNK cable color 1 n.c. - 2 A Profibus A green 3 n.c. - 4 B Profibus B red 5 Schirm Shielding Table 19 Pin allocation S2 (Profibus output) Pin Designation Function SCHUNK cable color 1 n.c. - 2 A Profibus A green 3 n.c. - 4 B Profibus B red 5 Shielding Shielding Table 20 Pin allocation S3 (Profibus input) 01/PRH/en/ /CW 23

24 Assembly and commissioning SUB D connection plug solder side Pin Function 3 Profibus B 8 Profibus A Table 21 Profibus DP assignment of 9-pin SUB D connection plug Terminating a module Combining several modules The Profibus terminator supplied can be used for termination. Screw the Profibus terminator on S2, if the module is the last bus subscriber. When combining several modules, the signals from module n are looped through to module n /PRH/en/ /CW

25 Assembly and commissioning Electrical connection digital inputs Pin Designation Function Figure 7 Connection diagram S V (output) +24V logic supply (e.g. for sensors) 2 GND GND logic supply 3 I/O1 Digital input 1 4 I/O2 Digital input 2 5 I/O3 Digital input 3 6 USB_5V +5V USB supply 7 USBDM USB data minus 8 USBDP USB data plus 9 GND GND logic supply 10 I/O4 Digital input 4 11 BOOT Flash mode 12 DEFAULT Default mode Table 22 Pin allocation S4 (connected via SCHUNK-V4-M8-M12 distributor or via USB ->SCHUNK service box SSB for parameterization) The digital inputs can be connected directly to the PRH module using the SCHUNK V4-M8-M12 distributor. The distributor has the advantage that it collects all incoming signals and carries them in a cable. Furthermore, the 24V power supply is available on each of the four M8 connection sleeves on the distributor (e.g. for sensors) and the switching condition of the connected components can be checked directly on the distributor via the integrated LEDs. 01/PRH/en/ /CW 25

26 Assembly and commissioning Figure 8 Product photo, SCHUNK-V4-M8-M12 distributor Figure 9 Contact assignment and wiring plan, SCHUNK-V4-M8-M12 distributor Note Alternatively, a self-assembly M12 cable connector can be used to connect the digital inputs to the module. Figure 10 self-assembly M12 cable connector 26 01/PRH/en/ /CW

27 Assembly and commissioning The following figure shows the internal circuitry of the digital inputs: 12 29V 7k5 GND Figure 11 Connection diagram of a digital input Assignment of terminal strip X3 Designation Usage: Program Usage: Normal IN0 Release (from firmware 1.20) IN1 Program block selection Digital input IN2 Program block selection Digital input IN3 Program block selection Digital input Table 23 Digital inputs Digital input (external reference switch) Note Further information and usage options for connector socket S4 can be found in the "MC-Demo" configuration tool (see DVD, document: MotionControl.pdf) DEFAULT and BOOT function Setting the module to factory settings The module can be reset to the factory settings using the DEFAULT function: 01/PRH/en/ /CW 27

28 Assembly and commissioning When using the SCHUNK USB cable supplied: Figure 12 SCHUNK USB cable 1. Disconnect the module from the power supply. 2. Connect the SCHUNK USB cable on the module to the 12-pin M12 connector socket S4. 3. Press the DEFAULT button and keep it pressed down, meanwhile re-establish the power supply. The module is now set to DEFAULT values. (see chapter 5.2, page 15) When using the SCHUNK service box SSB: Figure 13 SCHUNK-Service-Box SSB 1. Disconnect the module from the power supply. 2. Connect the SCHUNK service box on the module to the 12-pin M12 connector socket S4. 3. Press the DEFAULT button and keep it pressed down, meanwhile re-establish the power supply. The module is now set to DEFAULT values. (see chapter 5.2, page 15) 28 01/PRH/en/ /CW

29 Assembly and commissioning When using your own solution (customer solution) to bridge PIN DEFAULT and GND: 1. Turn off the power supply. 2. Bridge PIN DEFAULT (PIN 12) and PIN GND (PIN 2) on the 12-pin M12 connector socket S4. 3. Turn on the power supply again. 4. Remove the jumper again. The module is now set to DEFAULT values. (see chapter 5.2, page 15) Loading new firmware to the module The module can be updated with a new firmware with the software MCDEMO (is contained in the supplied DVD). Select function "Module" - "update firmware". Notes For further information, refer to the MotionControl.pdf document on the DVD supplied. 7.4 System integration System structure Control system (Master) PLC / PC field bus Module 1 Module 2 Module 3 (...) Figure 14 Data format The data is transferred in INTEL Format (Little Endian Format). Notes The number of modules connected depends on the bus used. A maximum of 255 IDs can be assigned (see DVD, Document: MotionControl.pdf). 01/PRH/en/ /CW 29

30 Assembly and commissioning SCHUNK Motion protocol Figure 15 The data frame of the Motion protocol always includes the following elements: D-Len (1-byte) Command Code (1 byte) D-Len (Data Length) specifies the number of subsequent items of user data including the command byte. The data frame consists of one byte, therefore a Motion protocol message can transfer a maximum of 255 data bytes. The D-Len byte is always followed by the command code, consisting of one byte. If necessary, the command code is followed by the relevant parameters required. If required, a "master command" can be extended with a "sub-command". All commands sent are immediately confirmed by the module with a response (acknowledge). This response also uses the data frame described above (D-Len, command code, any parameters). If the request has been successfully processed, D-Len always has a value that is not equal to "0x02". If the request failed, D-Len has the value "0x02". Notes The special features of the different bus systems are described in MotionControl.pdf (see DVD, Document: Motion- Control.pdf) /PRH/en/ /CW

31 Assembly and commissioning Most important commands DANGER Risk of injury when the machine/system moves unexpectedly due to incorrect programming! Only specialist personnel or specially trained staff should carry out settings and enter parameters. Notes In all examples, only the necessary parameters are listed, not the optional parameters. In the examples, "M" stands for master and "S" for slave (= module). 01/PRH/en/ /CW 31

32 Assembly and commissioning Referencing Command Code: 0x92 Description: A referencing is executed. Parameters (Master Slave): None. Response (Slave Master): "OK" (0x4F4B) if successful. The module executes the command. Miscellaneous: Spontaneous response possible. D-Len Cmd Param Meaning M S 0x01 0x92 S M 0x03 0x92 0x4F 0x4B Successfully referenced Table 24 Example for REFERENCE Positioning Command Code: 0xB0 Description: Moves the module to a specified position. Parameters (Master Slave): Position in configured unit system (must be specified) Velocity (optional) Acceleration (optional) Current (optional) Jerk (optional) Response (Slave Master): If possible, the time that the module needs for the movement is returned. Miscellaneous: Spontaneous response when position reached or in case of prior termination of positioning. D-Len Cmd Param Meaning M S 0x05 0xB0 0x00 0x00 0x20 0x41 Move to position 10.0[mm] S M 0x05 0xB0 0xCD 0xCC 0x04 0x41 Will reach position in 8.3[sec] Table 25 Example for MOVE POS 32 01/PRH/en/ /CW

33 Assembly and commissioning Current move Command Code: 0xB3 Description: A current move is executed. Parameters (Master Slave): Current in configured unit system (must be specified). Response (Slave Master): "OK" (0x4F4B) if successful. The module executes the command. Miscellaneous: Spontaneous message is possible. D-Len Cmd Param Meaning M S 0x05 0xB3 0x00 0x00 0x60 0x40 Execute current move with 3.5[A] S M 0x05 0xB3 0x4F 0x4B Table 26 Example for MOVE CUR Velocity move Command Code: 0xB5 Description: A velocity move is executed. Parameters (Master Slave): Velocity in configured unit system (must be specified) Current (optional) Response (Slave Master): "OK" (0x4F4B) if successful. The module executes the command. Miscellaneous: Spontaneous message is possible if the module is no longer moving. D-Len Cmd Param Meaning M S 0x05 0xB5 0x9A 0x99 0x31 0x41 Execute velocity move with 11.1[mm/s] S M 0x05 0xB5 0x4F 0x4B Table 27 Example for MOVE VEL 01/PRH/en/ /CW 33

34 Assembly and commissioning Stop module Command Code: 0x91 Description: The module is braked and stopped in the current position. Parameters (Master Slave): None. Response (Slave Master): "OK" (0x4F4B) if successful. Miscellaneous: Spontaneous message is possible. D-Len Cmd Param Meaning M S 0x01 0x91 S M 0x03 0xB5 0x4F 0x4B OK Table 28 Example for CMD STOP FAST STOP Command Code: 0x90 Description: The module is stopped as quickly as possible. If a brake is fitted and appropriately configured, it is activated immediately. The motor phases are short circuited. Parameters (Master Slave): None. Response (Slave Master): Error message "ERROR FAST STOP" is triggered. Miscellaneous: Can only be reset by "CMD ACK". D-Len Cmd Param Meaning M S 0x01 0x90 S M 0x03 0x88 0xD9 fast stop executed Table 29 Example for CMD FAST STOP 34 01/PRH/en/ /CW

35 Assembly and commissioning Acknowledge error Command Code: 0x8B Description: Acknowledgement of an error message. Parameters (Master Slave): None. Response (Slave Master): "OK" (0x4F4B) Miscellaneous: When all errors have been successfully acknowledged, after sending "OK" (0x4F4B), an info message "INFO NO ERROR" is also sent. D-Len Cmd Param Meaning M S 0x01 0x8B S M 0x03 0x8B 0x4F 0x4B OK Table 30 Example for CMD ACK Notes For further information, refer to the MotionControl.pdf document on the DVD supplied. 01/PRH/en/ /CW 35

36 Troubleshooting 8 Troubleshooting 8.1 Module does not move Possible cause Communication with the module is not possible Corrective action Check bus connection (see from chapter 7.3, page 21) Table The module's motor is not turning Possible cause No voltage connected Insufficient voltage Corrective action Check the power supply Check requirements of mounting surface (see chapter 5.3, page 16) Table Module stops abruptly (This can be reported by the module using the ER- ROR_CABLE_BREAK (0x76) parameter if the GSD file supplied has been integrated.) Possible cause Bus cable fault (connection to module broken) Corrective action Check bus cable for damage and replace if necessary. For further troubleshooting, see DVD, document: MotionControl.pdf. Table /PRH/en/ /CW

37 Maintenance and care 9 Maintenance and care 9.1 Maintenance intervals WARNING Risk of injury when the machine/system moves unexpectedly! Switch off energy supply. Type Interval [Mio. cycles] Table 34 The module complies with the following protection class IP: Type protection class IP IP54 IP65 IP65 Table 35 Clean the module dry, remove all coarse dirt and chips from the cavities on the module. Check for damage and replace the module if necessary. Any repair work on the module may only be carried out by SCHUNK. Call the service hotline or your SCHUNK contact Send the module to SCHUNK with a repair request. 9.2 Dismantling the module The module may only be dismantled by SCHUNK as otherwise the mechanism or internal electronics may be damaged. 01/PRH/en/ /CW 37

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39 EC declaration of incorporation 10 EC declaration of incorporation In terms of the EC Machinery Directive 2006/42/EC, annex II B Manufacturer/ distributor SCHUNK GmbH & Co. KG. Spann- und Greiftechnik Bahnhofstr D Lauffen/Neckar We hereby declare that the following product: Product designation: Servo Electrical Swivel Unit Type designation: Type PRH 50 Type PRH 75 ID-Number: meets the applicable basic requirements of the Directive Machinery (2006/42/EC). The incomplete machine may not be put into operation until conformity of the machine into which the incomplete machine is to be installed with the provisions of the Machinery Directive (2006/42/EC) is confirmed. Applied harmonized standards, especially: EN ISO Safety of machines - Basic concepts, general principles for design -- Part 1: Basic terminology, methodology EN ISO Safety of machines - Basic concepts, general principles for design -- Part 2: Technical principles The manufacturer agrees to forward on demand the special technical documents for the incomplete machine to state offices. Person responsible for documentation: Mr. Michael Eckert, Tel.: +49(0)7133/ Location, date/signature: Lauffen, January 2011 p.p. Title of the signatory Director for Development 01/PRH/en/ /CW 39

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