Bus Capable. Flexible. High Performance Density. PG Universal Gripper

Transcription

1 PG Bus Capable. Flexble. Hgh Performance Densty. PG Unversal Grpper Servo-electrc 2-fnger parallel grpper wth hghly precse grppng force control and long stroke Feld of Applcaton A ll-purpose, ultra-flexble grpper for great part varety and senstve components n clean envronments Advantages Your beneft Electrcally controlled grpper force adjustment for the delcate grppng of senstve workpeces Long stroke of 68 mm for flexble workpece handlng 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 Standard connectng elements and ntegrated control concept for extensve combnaton possbltes wth other mechatronc modules Szes Quantty: 1 Weght 1.4 kg Grppng force 200 N Stroke per jaw 34 mm Workpece weght 1 kg 1712

2 PG Functonal Descrpton The brushless servo motor drves the ball screw va a toothed belt drve. The rotatonal movement s transformed nto the lnear movement of the base jaw by base jaws mounted on the spndle nuts. 180 PG 1Control Pectroncs electroncs elepele ntegrated edped control and power electroncs for decentralzed actuaton of the servomotor 2 Encoder for grpper postonng and poston evaluaton 3Drve Brushless DC servomotor 4Gear mechansm Force transmsson from the servomotor to the drve spndle 5Spndle Transforms the rotatonal movement nto a lnear movement CAD data, operatng manuals and other current product documents are avalable at www. schunk. com 1713

3 PG General Notes about the Seres Operatng prncple: Spndle drve Housngmateral: Alumnum alloy, coated Base jaw materal: Alumnum alloy, anodzed Actuaton: servo-electrc, va brushless DC servomotor Warranty: 24 months (detals, general terms and condtons and operatng manuals can be downloaded at www. schunk. com) Scope of delvery: Enclosed pack wth centerng sleeves, assembly and operatng manual wth declaraton of ncorporaton, DVD wth SCHUNK software and commssonng assstant, functonal module for control va Semens S7-300 / 400. A DMI or MMI electrc cap s requred for operaton of the grpper. Ths s not ncluded n the scope of delvery and must be ordered separately. Grppng force: s the arthmetc total of the grppng force appled to each grpper jaw at dstance P (see llustraton). Fnger length: s measured from the upper edge of the grpper housng n the drecton of the man axs. The breach of the max. permtted fnger length can brng hgher abrason. Repeat accuracy: s defned as the spread of the lmt poston after 100 consecutve strokes. Workpece weght: s calculated for a force-ft connecton wth a coeffcent of frcton of 0.1 and a safety factor of 2 aganst slppage of the workpece on acceleraton due to gravty g. Consderably heaver workpece weghts are permtted wth form-ft grppng. Closng and openng tmes: Mnmum closng and openng tmes are only the movement tmes of the base jaws at max. speed, max. acceleraton wthout electrcal restrctons (maxmum current) and observance of the maxmum permssble mass per fnger. Nomnal currents: may be permanently appled. The nformaton n the respectve product documentaton must be observed for all current levels beyond the rated current up to the maxmum current. Applcaton example Electrcally powered grpper soluton wth lnear axs and rotary modules for the handlng of senstve workpeces 1 PG Unversal Grpper 2 PW Pan-Tlt Actuator 3 PR Rotary Unt electrc 4 HSB Beta Belt-drven Axs 5PDU Drve 1714

4 PG SCHUNK offers more... The followng components make the product PG even more productve the sutable addton for the hghest functonalty, flexblty, relablty, and controlled producton. MMI Connecton Cap DMI Connecton Cap Power- / and Data Cable Centerng Sleeves 180 Beta electrcal Lnear Module PRH Rotary Actuator Fnger Blanks ERS Rotary Actuator ERD Rotary Actuator PW electrcal Rotary Pan-Tlt Actuator PR Rotary Unt electrc PDU Rotary Unt electrc Further nformaton regardng the products can be found on the followng product pages or at www. schunk. com. Please contact us for further nformaton: SCHUNK techncal hotlne Optons and specal Informaton Integrated electroncs: The electrcal control of the grpper takes place va the fully ntegrated control and power electroncs. Therefore, no addtonal external control unts are requred for the module. Easy ntegraton: There s a vared range of nterfaces avalable, such as Profbus-DP or CAN bus as methods of communcaton. Ths enables the assembly of ndustral bus networks and ensures easy ntegraton nto exstng control systems. Connecton caps DMI and MMI: The DMI or MMI connecton caps are avalable for connecton of the grpper to the voltage supply or superordnate control unt. They are not ncluded n the scope of delvery and must be ordered separately. 1715

5 Grppng force Fnger load Grppng force Speed Fnger length M x max Nm M y max Nm M z max Nm F z max N Speed The specfed torques and forces are statc values, apply for each base jaw, and may occur smultaneously. M y may occur n addton to the torque generated by the grppng force. Stroke Techncal data Descrpton ID General operatng data Stroke per jaw [mm] 34 mn. / max. grppng force [N] 30/200 Recommended workpece weght [kg] 1 max. permtted fnger length [mm] 140 Repeat accuracy [mm] 0.05 Closng- / openng tme [s] 1.1/1.1 max. speed [mm/s] 82 max. acceleraton [mm/s²] 328 Weght [kg] 1.4 mn. / max. ambent temperature [ C] 5/55 IP class 20 Electrcal operatng data Controller electroncs ntegrated Nomnal voltage [V DC] 24 Nomnal current [A] 1.4 max. power supply [A] 1.8 Communcaton nterface Profbus, CAN bus, Dgtal I/O Profbus nterface [Mbt/s] 1.5 CAN nterface [Mbt/s] 1 Number of dgtal nputs/outputs 4/4 Parametrzed nterface RS

6 Man vew 180 The drawng shows the basc verson of the grpper wth open jaws, wthout dmensonal consderaton of the optons descrbed below. 1 Grpper connecton 2 Fnger connecton ET Electrcal connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the matng part Maxmum permtted fnger projecton Permtted range Inadmssble range L max s equvalent to the maxmum permtted fnger length, see the chart of techncal specfcatons. 1717

7 ABR-MPG-plus 70 fnger blanks Connecton caps Fnger blanks for customzed subsequent machnng. HP DMI connecton cap HQ MMI connecton cap Descrpton ID Materal Scope of delvery Fnger blanks ABR Alumnum 1 The DMI or MMI connecton caps are requred for connecton of the modules to the voltage supply or superordnate control unt. For the DMI the connecton of the cable wres takes place va connecton termnals. The MMI enables convenent connecton va plug connector. Descrpton ID Connecton caps DMI 070-V05-B MMI 070-V05-E-CN MMI 070-V05-D-CN MMI 070-V05-E-PB MMI 070-V05-D-PB Further nformaton and accessores can be found n the followng dsplays. DMI connecton cap MMI connecton cap GK M16x1.5 for cable gude penetratng screw connecton For the DMI the connecton of the cable wres takes place va connecton termnals. The DMI s prepared for Profbus and CAN bus communcaton nterfaces. Descrpton ID Connecton caps DMI 070-V05-B IT Connecton power supply (logc / load) IK Connecton feldbus M12 IM Parametrzed nterface RS232 Descrpton ID Connecton caps MMI 070-V05-E-CN MMI 070-V05-D-CN MMI 070-V05-E-PB MMI 070-V05-D-PB IN Connecton power supply servce box (SSB) IP Connecton ext. M8 lmt swtch or dgtal I/Os 1718

8 Power cable for SCHUNK MMI CAN bus cable 6 Connecton module sde AO Socket The power cable for the MMI connecton cab s avalable n varous lengths (L2). The power cable has an M23 connecton plug on the module sde. The cable can be optonally ftted wth a matchng matng plug (GG) or open wres (GL) on the other sde. Descrpton ID L 2 D 1 Power cable for SCHUNK MMI KA GGN2304-LK H M23 KA GGN2304-LK H M23 KA GGN2304-LK H M23 KA GGN2304-LK H M23 KA GLN2304-LK H M23 KA GLN2304-LK H M23 KA GLN2304-LK H M23 KA GLN2304-LK H M23 [m] 6 Connecton module sde AO Socket The CAN bus cable s pre-assembled for our mechatronc modules wth MMI connecton cap and the RPH rotary module. It has an M12 connector plug on both sdes. Descrpton ID L 2 D 1 [m] CAN bus cable KA GGN1204-CN A M12 KA GGN1204-CN A M12 KA GGN1204-CN A M12 KA GGN1204-CN A M12 Please observe the bendng radus (7.5 tmes the cable dameter). 180 Please observe the bendng radus (7.5 tmes the cable dameter). 1719

9 Profbus cable Termnators 6 Connecton module sde AO Socket The Profbus cable s pre-assembled for our mechatronc modules wth MMI connecton cap and PRH rotary module. It has an M12 connector plug on both sdes. Descrpton ID L 2 D 1 [m] Profbus cable KA GGN1204-PB A M12 KA GGN1204-PB A M12 KA GGN1204-PB A M12 KA GGN1204-PB A M12 6 Connecton module sde AO Socket The ST termnatng resstors are provded for the termnaton of the bus strng drectly at the SCHUNK module. The termnatng resstors are avalable for the Profbus (RB) or CAN bus (CN) bus systems. Descrpton ID D 1 Termnators ST SG1204-CN-A-A M12 ST SG1204-PB-A-A M12 A sutable termnator must be mounted on the last module n the CAN or Profbus lne. Please observe the bendng radus (7.5 tmes the cable dameter). Connectng element - straght PAM straght Straght standard element for connecton of mechatronc modules PG, PR, PDU, and PSM n sze 70. Descrpton ID Dmensons Connectng element PAM x70/35/70x70 mm PAM x70/70/70x70 mm GL Ft for centerng sleeves Sutable for mechatronc modules PG, PR, PDU, and PSM n sze 70. Descrpton ID Dmensons Connectng element PAM x70/35/70x70 mm Specal lengths are avalable on request. Please contact us. 1720

10 PAM straght Connectng element - concal GL Ft for centerng sleeves Sutable for mechatronc modules PG, PR, PDU, and PSM n sze 70. Descrpton ID Dmensons Connectng element PAM x70/70/70x70 mm Straght standard element for connecton of mechatronc modules PG, PR, PDU, and PSM n sze 70/90. Descrpton ID Connectng element PAM PAM Specal lengths are avalable on request. Please contact us. PAM concal PAM concal 180 GL Ft for centerng sleeves GL Ft for centerng sleeves Sutable for mechatronc modules PG, PR, PDU, and PSM n sze 70/90. Sutable for mechatronc modules PG, PR, PDU, and PSM n sze 70/90. Descrpton ID Connectng element PAM Descrpton ID Connectng element PAM

11 Connectng element - angle PAM angle Angled standard element for connecton of mechatronc modules PG, PR, PDU, and PSM n sze 70. Descrpton ID Connectng element PAM Specal lengths are avalable on request. Please contact us. GL Ft for centerng sleeves Sutable for mechatronc modules PG, PR, PDU, and PSM n sze 70. Descrpton ID Connectng element PAM

12 Notes