Product Information. Miniature rotary unit PRH

Transcription

1 Product Informaton Mnature rotary unt PRH

2 PRH Mnature rotary unt Precse. Compact. Bus capable. PRH unversal rotary unt servo-electrc mnature rotary unt wth angle > 360, center bore, and precson gear Feld of applcaton Versatle, hghly flexble rotary unt for clean or hghly contamnated envronments Advantages Your benefts Brushless DC servomotor for flexble use by controlled poston, velocty, and torque Hgh torque, velocty, and precson for fast acceleraton and short cycle tmes at a hgh precson Fully ntegrated control and power electroncs for creatng a decentralzed control system Versatle actuaton optons for smple ntegraton nto exstng servo-controlled concepts va Profbus-DP, or CAN bus Hgh protecton class up to IP65 for the use n heavly contamnated envronments Compact desgn for mnmal nterferng contours and for use n confned spaces Szes Quantty: 3 Weght kg Axal force 2

3 PRH Mnature rotary unt Functonal descrpton The rotary unt has a Harmonc Drve precson gear, whch s drectly drven by a brushless DC-servo drve. PRH 1 Electrcal connecton for connecton of power supply and communcaton 2 Control electroncs Integrated control and power electroncs for decentralzed control of the servomotor 3 Drve wth gear Harmonc Drve gear motor CAD data, operatng manuals and other current product documents can be found onlne. 3

4 PRH Mnature rotary unt General notes about the seres Housng materal: Alumnum alloy Actuaton: servo-electrc, va brushless DC servomotor Operatng prncple: Harmonc drve gear drven drectly va brushless DC servomotor Scope of delvery: DVD wth SCHUNK software and assstant for commssonng, ncludes assembly- and operaton manual, declaraton of ncorporaton, functonal module for control va Semens S7-300/400. Warranty: 24 months Swvelng tmes: are purely the tmes of the module to rotate from rest poston to rest poston. Relay swtchng tmes or SPC reacton tmes are not ncluded n the above tmes and must be taken nto consderaton when determnng cycle tmes. Load-dependent rest perods may have to be ncluded n the cycle tme. Repeat accuracy: Is defned as the spread of the target poston after 100 consecutve postonng cycles. Mddle attached load: ntended to represent a typcal load. It s defned as the half of the max. possble mass moment of nerta that can be swveled wthout restrcton, bouncng or httng, wth a centrc load and a vertcal rotatng axs. Nomnal Currents: can be permanently actuated. Wth regard to all the currents whch are rangng above the nomnal current up to the maxmum current, the notes of the ndvdual product documentaton has to be respected. Applcaton example Rotary grpper combnaton wth two senstve servo-electrc parallel grppers for flexble handlng of senstve workpeces 1 PRH servo-electrc rotary module 2 EVG servo-electrc 2-fnger parallel grpper 4

5 PRH Mnature rotary unt SCHUNK offers more... The followng components make the product PRH even more productve the sutable addton for the hghest functonalty, flexblty, relablty, and controlled producton. Power- / and data cable Sensor system V Sensor Dstrbutor Cable connector Electrc Parallel Grpper EGP LPE lne gantry Connecton servce box SSB Room gantry electrc Lnear drect drve MPG-plus 2-fnger parallel grpper PGN-plus 2-fnger parallel grpper WSG servo-electrc 2-fnger parallel grpper Addtonal nformaton regardng the products can be found on the followng product pages or at Please contact us for further nformaton: SCHUNK techncal hotlne Optons and specal nformaton Integrated electroncs: The electrcal control of the PRH s carred out by the fully ntegrated control and power electroncs. Hence, the module does not requre any addtonal external control unts. Varety of nterfaces: There s a vared range of nterfaces for communcaton avalable, such as USB for parametersaton, four dgtal nputs for postonng set programmng, Profbus-DP and CAN bus to enable the assembly of bus networks. Thus an easy ntegraton nto exstng control systems s possble. Unque mechatronc modular system: For creatng combned systems (e.g. Grppng / Rotary Unts), further mechatronc products are avalable. 5

6 PRH 050 Mnature rotary unt Swvel tme dagram Forces and moments Inerta Swvelng tme M y max. 15 Nm F x max. 200 N F z max. 200 N Moments and forces may occur smultaneously. Techncal data Profbus varant PRH PB-54 PRH PB-54 PRH PB-54 ID Mechancal operatng data Rated/maxmum torque [Nm] 0.75/ /3.3 2/4.8 Rated / maxmum speed [1/mn] 117/200 70/120 35/60 Max. permssble mass moment of nerta [kgm²] Repeat accuracy [ ] Axal run-out/run-out accuracy [mm] 0.01/ / /0.01 Transmsson 30:1 50:1 100:1 General operatng data Weght [kg] mn./max. ambent temperature [ C] 0/40 0/40 0/40 Protecton class IP Electrcal operatng data Nomnal voltage [V] Nomnal current [A] max. current [A] Control electroncs Control electroncs ntegrated ntegrated ntegrated Power supply [V] Encoder system Encoder (ncremental) Encoder (ncremental) Encoder (ncremental) Interface Profbus, USB (parameterzaton) Profbus, USB (parameterzaton) Profbus, USB (parameterzaton) Profbus nterface [Mbt/s] USB nterface Devce Devce Devce Number of dgtal I/O 4/0/-/- 4/0/-/- 4/0/-/- Optons and ther characterstcs CAN-Bus varant PRH CN-54 PRH CN-54 PRH CN-54 ID Communcaton nterface CAN bus, USB (parameterzaton) CAN bus, USB (parameterzaton) CAN bus, USB (parameterzaton) Data rate [Mbt/s] The peak torques serve as short-term drve reserves when acceleratng and delayng. 6

7 PRH 050 Mnature rotary unt Man vew The drawng shows the basc verson of the rotary unt wthout dmensonal consderaton of the optons descrbed below. 1 Connecton swvel unt 2 Attachment connecton BN Bolt crcle BR Through-hole GR Ft for centerng IT Connecton power supply IK Feldbus output connecton IL Connecton servce box (SSB), programmng cable, sensor dstrbutor IM Feldbus nput connecton 7

8 PRH 050 Mnature rotary unt Power cable for PRH Profbus communcaton cables 6 Connecton module sde AO Socket IT Cable end wth open wre strands The power cable s used to connect the PRH to the power supply. On the module sde, t s equpped wth an M12 connector (socket) and on the other sde, open wre strands. Descrpton ID L1 D1 L2 D2 D3 [m] [mm] [mm] [mm] Power cable - cable track compatble KA GLN1204-LK K M12 KA GLN1204-LK K M12 KA GLN1204-LK K M12 KA GLN1204-LK K M12 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. 6 Connecton module sde AO Socket The communcaton cables are sutable fabrcated for the mechatronc SCHUNK products. They have M12 connectors on both sdes. Descrpton ID L1 D1 L2 D2 D3 [m] [mm] [mm] [mm] Profbus communcaton cable - cable track compatble KA GGN1204-PB A M12 KA GGN1204-PB A M12 KA GGN1204-PB A M12 KA GGN1204-PB A M12 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. 8

9 PRH 050 Mnature rotary unt CAN Bus communcaton cables Termnaton resstor 6 Connecton module sde AO Socket The communcaton cables are sutable fabrcated for the mechatronc SCHUNK products. They have M12 connectors on both sdes. Descrpton ID L1 D1 L2 D2 D3 [m] [mm] [mm] [mm] CAN bus communcaton cable - cable track compatble KA GGN1204-CN A M12 KA GGN1204-CN A M12 KA GGN1204-CN A M12 KA GGN1204-CN A M12 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. 6 Connecton module sde AO Socket The termnatng resstors are provded for termnatng the bus strng drectly at the SCHUNK module. Descrpton ID L2 D2 D3 [mm] [mm] Termnaton resstor - CAN bus ST SG1204-CN-A-A M12 Termnaton resstor - Profbus ST SG1204-PB-A-A M12 An approprate termnatng resstor must be nstalled on the last module n the CAN or Profbus strng. Connecton servce box SSB V4-M8-M12 sensor dstrbutor for PRH IT PRH module connecton per M12/12-pn plug connector IK Sensor dstrbutor connecton IL USB connecton Wth the SCHUNK servce box, a connecton can be establshed from PRH to a PC va USB cable. Addtonally, for connectng reference sensors, the sensor connector of the PRH can be drectly connected to the box. Descrpton ID Accessores SSB IT PRH module connecton per M12/12-pn plug connector IK Sensor connecton M8 (4x) The PRH sensor dstrbutor can be drectly connected to the PRH module. Four sensors wth 3-pn M8 plugs can be connected. Descrpton ID Cable length L [m] Sensor dstrbutor V4-M8-M12 PRH For connectng the PRH to the PC, a USB cable s ncluded n the PRH scope of delvery. No sensor dstrbutor may be connected to the PRH when usng ths cable. 9

10 PRH 060 Mnature rotary unt Swvel tme dagram Forces and moments Inerta Swvelng tme M y max. 40 Nm F x max. 300 N F z max. 300 N Moments and forces may occur smultaneously. Techncal data Profbus varant PRH PB-65 PRH PB-65 PRH PB-65 ID Mechancal operatng data Rated/maxmum torque [Nm] 1.8/ / /11 Rated / maxmum speed [1/mn] 117/200 70/120 35/60 Max. permssble mass moment of nerta [kgm²] Repeat accuracy [ ] Axal run-out/run-out accuracy [mm] 0.01/ / /0.01 Transmsson 30:1 50:1 100:1 General operatng data Weght [kg] mn./max. ambent temperature [ C] 0/40 0/40 0/40 Protecton class IP Electrcal operatng data Nomnal voltage [V] Nomnal current [A] max. current [A] Control electroncs Control electroncs ntegrated ntegrated ntegrated Power supply [V] Encoder system Encoder (ncremental) Encoder (ncremental) Encoder (ncremental) Interface Profbus, USB (parameterzaton) Profbus, USB (parameterzaton) Profbus nterface [Mbt/s] USB nterface Devce Devce Devce Number of dgtal I/O 4/0/-/- 4/0/-/- 4/0/-/- Optons and ther characterstcs CAN-Bus varant PRH CN-65 PRH CN-65 PRH CN-65 ID Communcaton nterface CAN bus, USB (parameterzaton) CAN bus, USB (parameterzaton) CAN bus, USB (parameterzaton) Data rate [Mbt/s] The peak torques serve as short-term drve reserves when acceleratng and delayng. 10

11 PRH 060 Mnature rotary unt Man vew The drawng shows the basc verson of the rotary unt wthout dmensonal consderaton of the optons descrbed below. 1 Connecton swvel unt 2 Attachment connecton BN Bolt crcle BR Through-hole GR Ft for centerng IT Connecton power supply IK Feldbus output connecton IL Connecton servce box (SSB), programmng cable, sensor dstrbutor IM Feldbus nput connecton 11

12 PRH 060 Mnature rotary unt Power cable for PRH Profbus communcaton cables 6 Connecton module sde AO Socket IT Cable end wth open wre strands The power cable s used to connect the PRH to the power supply. On the module sde, t s equpped wth an M12 connector (socket) and on the other sde, open wre strands. Descrpton ID L1 D1 L2 D2 D3 [m] [mm] [mm] [mm] Power cable - cable track compatble KA GLN1204-LK K M12 KA GLN1204-LK K M12 KA GLN1204-LK K M12 KA GLN1204-LK K M12 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. 6 Connecton module sde AO Socket The communcaton cables are sutable fabrcated for the mechatronc SCHUNK products. They have M12 connectors on both sdes. Descrpton ID L1 D1 L2 D2 D3 [m] [mm] [mm] [mm] Profbus communcaton cable - cable track compatble KA GGN1204-PB A M12 KA GGN1204-PB A M12 KA GGN1204-PB A M12 KA GGN1204-PB A M12 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. 12

13 PRH 060 Mnature rotary unt CAN Bus communcaton cables Termnaton resstor 6 Connecton module sde AO Socket The communcaton cables are sutable fabrcated for the mechatronc SCHUNK products. They have M12 connectors on both sdes. Descrpton ID L1 D1 L2 D2 D3 [m] [mm] [mm] [mm] CAN bus communcaton cable - cable track compatble KA GGN1204-CN A M12 KA GGN1204-CN A M12 KA GGN1204-CN A M12 KA GGN1204-CN A M12 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. 6 Connecton module sde AO Socket The termnatng resstors are provded for termnatng the bus strng drectly at the SCHUNK module. Descrpton ID L2 D2 D3 [mm] [mm] Termnaton resstor - CAN bus ST SG1204-CN-A-A M12 Termnaton resstor - Profbus ST SG1204-PB-A-A M12 An approprate termnatng resstor must be nstalled on the last module n the CAN or Profbus strng. Connecton servce box SSB V4-M8-M12 sensor dstrbutor for PRH IT PRH module connecton per M12/12-pn plug connector IK Sensor dstrbutor connecton IL USB connecton Wth the SCHUNK servce box, a connecton can be establshed from PRH to a PC va USB cable. Addtonally, for connectng reference sensors, the sensor connector of the PRH can be drectly connected to the box. Descrpton ID Accessores SSB IT PRH module connecton per M12/12-pn plug connector IK Sensor connecton M8 (4x) The PRH sensor dstrbutor can be drectly connected to the PRH module. Four sensors wth 3-pn M8 plugs can be connected. Descrpton ID Cable length L [m] Sensor dstrbutor V4-M8-M12 PRH For connectng the PRH to the PC, a USB cable s ncluded n the PRH scope of delvery. No sensor dstrbutor may be connected to the PRH when usng ths cable. 13

14 PRH 075 Mnature rotary unt Swvel tme dagram Forces and moments Inerta Swvelng tme M y max. 75 Nm F x max. 500 N F z max. 500 N Moments and forces may occur smultaneously. Techncal data Profbus varant PRH PB-65 PRH PB-65 PRH PB-65 ID Mechancal operatng data Rated/maxmum torque [Nm] 3.5/9 4.7/18 6.8/28 Rated / maxmum speed [1/mn] 100/200 60/120 30/60 Max. permssble mass moment of nerta [kgm²] Repeat accuracy [ ] Axal run-out/run-out accuracy [mm] 0.01/ / /0.01 Transmsson 30:1 50:1 100:1 General operatng data Weght [kg] mn./max. ambent temperature [ C] 0/40 0/40 0/40 Protecton class IP Electrcal operatng data Nomnal voltage [V] Nomnal current [A] max. current [A] Control electroncs Control electroncs ntegrated ntegrated ntegrated Power supply [V] Encoder system Encoder (ncremental) Encoder (ncremental) Encoder (ncremental) Interface Profbus, USB (parameterzaton) Profbus, USB (parameterzaton) Profbus, USB (parameterzaton) Profbus nterface [Mbt/s] USB nterface Devce Devce Devce Number of dgtal I/O 4/0/-/- 4/0/-/- 4/0/-/- Optons and ther characterstcs CAN-Bus varant PRH CN-65 PRH CN-65 PRH CN-65 ID Communcaton nterface CAN bus, USB (parameterzaton) CAN bus, USB (parameterzaton) CAN bus, USB (parameterzaton) Data rate [Mbt/s] The peak torques serve as short-term drve reserves when acceleratng and delayng. 14

15 PRH 075 Mnature rotary unt Man vew The drawng shows the basc verson of the rotary unt wthout dmensonal consderaton of the optons descrbed below. 1 Connecton swvel unt 2 Attachment connecton BN Bolt crcle BR Through-hole GR Ft for centerng IT Connecton power supply IK Feldbus output connecton IL Connecton servce box (SSB), programmng cable, sensor dstrbutor IM Feldbus nput connecton 15

16 PRH 075 Mnature rotary unt Power cable for PRH Profbus communcaton cables 6 Connecton module sde AO Socket IT Cable end wth open wre strands The power cable s used to connect the PRH to the power supply. On the module sde, t s equpped wth an M12 connector (socket) and on the other sde, open wre strands. Descrpton ID L1 D1 L2 D2 D3 [m] [mm] [mm] [mm] Power cable - cable track compatble KA GLN1204-LK K M12 KA GLN1204-LK K M12 KA GLN1204-LK K M12 KA GLN1204-LK K M12 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. 6 Connecton module sde AO Socket The communcaton cables are sutable fabrcated for the mechatronc SCHUNK products. They have M12 connectors on both sdes. Descrpton ID L1 D1 L2 D2 D3 [m] [mm] [mm] [mm] Profbus communcaton cable - cable track compatble KA GGN1204-PB A M12 KA GGN1204-PB A M12 KA GGN1204-PB A M12 KA GGN1204-PB A M12 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. 16

17 PRH 075 Mnature rotary unt CAN Bus communcaton cables Termnaton resstor 6 Connecton module sde AO Socket The communcaton cables are sutable fabrcated for the mechatronc SCHUNK products. They have M12 connectors on both sdes. Descrpton ID L1 D1 L2 D2 D3 [m] [mm] [mm] [mm] CAN bus communcaton cable - cable track compatble KA GGN1204-CN A M12 KA GGN1204-CN A M12 KA GGN1204-CN A M12 KA GGN1204-CN A M12 Please observe the mn. bendng radus for cable track-compatble cables or the max. torson angle for torson-compatble cables. These are generally 10 tmes the cable dameter or +/- 180 /m. 6 Connecton module sde AO Socket The termnatng resstors are provded for termnatng the bus strng drectly at the SCHUNK module. Descrpton ID L2 D2 D3 [mm] [mm] Termnaton resstor - CAN bus ST SG1204-CN-A-A M12 Termnaton resstor - Profbus ST SG1204-PB-A-A M12 An approprate termnatng resstor must be nstalled on the last module n the CAN or Profbus strng. Connecton servce box SSB V4-M8-M12 sensor dstrbutor for PRH IT PRH module connecton per M12/12-pn plug connector IK Sensor dstrbutor connecton IL USB connecton Wth the SCHUNK servce box, a connecton can be establshed from PRH to a PC va USB cable. Addtonally, for connectng reference sensors, the sensor connector of the PRH can be drectly connected to the box. Descrpton ID Accessores SSB IT PRH module connecton per M12/12-pn plug connector IK Sensor connecton M8 (4x) The PRH sensor dstrbutor can be drectly connected to the PRH module. Four sensors wth 3-pn M8 plugs can be connected. Descrpton ID Cable length L [m] Sensor dstrbutor V4-M8-M12 PRH For connectng the PRH to the PC, a USB cable s ncluded n the PRH scope of delvery. No sensor dstrbutor may be connected to the PRH when usng ths cable. 17

18 SCHUNK GmbH & Co. KG Spann- und Greftechnk Bahnhofstr D Lauffen/Neckar Tel Fax Jens Lehmann, German goalkeeper legend, SCHUNK brand ambassador snce 2012 for precse grppng and safe holdng SCHUNK GmbH & Co. KG