Product Information. Long-stroke gripper PEH

Transcription

1 Product Informaton PEH

2 PEH Flexble. Hgh Performance Densty. Bus capable. PEH long-stroke grpper Servo-electrc 2-fnger parallel grpper wth long jaw stroke for large parts and dverse parts spectrum Feld of applcaton Versatle, hghly flexble grpper for large dversty of parts n clean to slghtly contamnated work envronment Advantages Your benefts Grppng force regulaton n a range of 100 N 1,800 N for powerful grppng of a wde varety of workpeces Large stroke of 200 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 control concepts va PROFIBUS-DP, or CAN Robust sldng gude for the precse handlng of dfferent workpeces Hgh maxmum moments possble sutable for usng long grpper fngers Mountng from two sdes n three screw drectons for unversal and flexble grpper assembly Szes Quantty: 3 Weght kg Grppng force N Stroke per jaw mm Workpece weght kg 2

3 PEH Functonal descrpton The brushless servo motor drves the ball screw va a toothed belt drve. A base jaw s moved by means of a carrer on the spndle. The jaw stroke s synchronzed by means of rack and pnon knematcs. PEH 1 Knematcs Rack and pnon prncple for centrc grppng 2 Sldng gude for precse grppng wth mnmal play at a hgh load capacty 3 Connecton cap DMI electrc connecton for energy supply and communcaton 4 Control electroncs Integrated control and power electroncs for decentralzed control of the servomotor 5 Drve brushless DC servomotor wth hall-effect sensors and encoder 6 Gear mechansm Force transmsson from the servomotor to the drve spndle 7 Brake for mantanng poston on shutdown and power falure CAD data, operatng manuals and other current product documents can be found onlne. 3

4 PEH General notes about the seres Operatng prncple: Spndle drve, synchronzed by rack and pnon prncple Housng materal: Alumnum alloy, coated Base jaw materal: Steel Actuaton: servo-electrc, va brushless DC servomotor Warranty: 24 months Scope of delvery: Accessory kt 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 connecton cap s requred for operaton of the grpper. It s not ncluded n the scope of delvery and has to 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 reference surface as the dstance P n drecton to the man axs. Repeat accuracy: s defned as the spread of the end poston durng 100 consecutve strokes. Workpece weght: s calculated for force-ft grppng wth a coeffcent of statc frcton of 0.1 and a safety factor of 2 aganst workpece slppage at acceleraton due to gravty g. For form-ft or capture grppng, there are sgnfcantly hgher permssble workpece weghts. Closng and openng tmes: Mnmum closng and openng tmes are only the movement tmes of the base jaws or fngers at max. speed, max. acceleraton wthout electrcal restrctons (maxmum current) and observance of the maxmum permssble mass per fnger. 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 Fully electrcally drven gantry axs for loadng and depalletzng of varous components. 1 PEH long-stroke grpper 2 Vertcal axs wth Beta spndle drve 3 Beta lnear module wth toothedbelt drve 4 Servo electrc drve wth gear PDU 5 Connecton cap DMI 6 ERS unversal rotary module 4

5 PEH SCHUNK offers more... The followng components make the product PEH even more productve the sutable addton for the hghest functonalty, flexblty, relablty, and controlled producton. Rotary modules Pan-Tlt Actuator Lnear modules Drves Connecton cap MMI Connecton cap DMI Force/torque sensor Quck-Change-System Power cable Communcaton cables Centerng sleeves 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 grpper s carred out by the fully ntegrated control and power electroncs. Hence, the module does not requre any addtonal external control unts. Easy ntegraton: There s a vared range of nterfaces avalable, such as PROFIBUS DP or CAN as types 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 have to be ordered separately. 5

6 PEH 30 Grppng force Fnger load Grppng force Speed Pont P - Fnger length M x max. 30 Nm M y max. 95 Nm M z max. 45 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 arse n addton to the moment generated by the grppng force tself. Stroke Techncal data Descrpton PEH 30 ID General operatng data Stroke per jaw [mm] 60 Mn./max. grppng force [N] 150/750 Recommended workpece weght [kg] 2 Max. permssble fnger length [mm] 125 Max. permssble mass per fnger [kg] 2 Repeat accuracy [mm] ± 0.05 Closng/openng tme [s] 1/1 Max. speed [mm/s] 210 Max. acceleraton [mm/s²] Weght [kg] 5.4 Mn./max. ambent temperature [ C] 5/45 Protecton class IP 41 Electrcal operatng data Nomnal voltage [V DC] 24 Nomnal current [A] 2.4 Max. current [A] 8 Controller electroncs ntegrated Communcaton nterface PROFIBUS, CAN, dgtal I/O Data rate [Mbt/s] 1.5 Data rate [Mbt/s] 1 Number of dgtal I/O 4/4 Parametrzed nterface RS232 The recommended workpece weght has been calculated for the maxmum grppng force. The maxmum grppng force can be acheved at max. speed and wth max. current, whch may only be appled temporarly. Please contact SCHUNK techncal sales for further enqures. 6

7 PEH 30 Man vew The drawng shows the grpper n the basc verson wth closed 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 counter part Maxmum permtted fnger projecton Permtted range Inadmssble range L max s equvalent to the maxmum permtted fnger length, see the techncal data table 7

8 PEH 30 ZBA-PFH ntermedate jaws Connecton caps 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The optonal ntermedate jaw makes a screw connecton of the grpper fngers n Z-drecton possble. Furthermore, the ntermedate jaws compensate the parallel offset of the base jaws n Y- drecton and enable an algned connecton. The desgn of the customer-specfc grpper fngers s smplfed as a result. Descrpton ID Materal Fnger nterface Intermedate jaws ZBA-PFH Steel PGN-plus 100 Scope of delvery 2 HP Connecton cap DMI HQ Connecton cap MMI For connectng the modules to the power supply or superordnate control unt, the DMI or MMI connecton caps are requred. The DMI's wre strands are connected va connecton termnals. The MMI offers convenent connectons va plug connectors. Descrpton ID Connecton caps DMI 070-V05-B MMI 070-V05-D-CN MMI 070-V05-D-PB MMI 070-V05-E-CN MMI 070-V05-E-PB Further nformaton and accessores can be found n the followng dsplays. Connecton cap DMI Connecton cap MMI GK M16x1.5 for cable gude penetratng screw connecton The DMI's wre strands are connected va connecton termnals. The DMI s prepared for PROFIBUS and CAN communcaton nterfaces. Descrpton ID Connecton caps DMI 070-V05-B IT Voltage supply connecton M23 (logc / load) IK Connecton feldbus M12 IM Parametrzed nterface RS232 IN Connecton power supply servce box (SSB) IP External connecton M8 lmt swtch or dgtal I/O On opton, the MMI s avalable wth dgtal I/Os (D) or prepared for external end swtches (E). On opton, the MMI s avalable wth the PROFIBUS (PB) or CAN (CB) communcaton nterfaces. Descrpton ID Connecton caps MMI 070-V05-D-CN MMI 070-V05-D-PB MMI 070-V05-E-CN MMI 070-V05-E-PB

9 PEH 30 Power cable Connecton cables such as power cables and encoder cables are specfcally desgned for connectng SCHUNK products wth drve control unts. We wll gladly help you to select the rght connecton cables. 6 Connecton module sde AO Socket IT Prefabrcated to connect to the hgher-level components Descrpton ID L1 D3 [m] 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 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. 9

10 PEH 30 PROFIBUS communcaton cables 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] PROFIBUS communcaton cable - drag chan sutable 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. CAN 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 communcaton cable - drag chan sutable 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 ST SG1204-CN-A-A M12 Termnaton resstor - PROFIBUS ST SG1204-PB-A-A M12 An approprate termnatng resstor must be nstalled on the last module n the CAN or PROFIBUS strng. 10

11 PEH 30 11

12 PEH 40 Grppng force, O.D. grppng Fnger load Grppng force Speed Pont P - Fnger length M x max. 50 Nm M y max. 100 Nm M z max. 70 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 arse n addton to the moment generated by the grppng force tself. Stroke Techncal data Descrpton PEH 40 ID General operatng data Stroke per jaw [mm] 60 Mn./max. grppng force [N] 150/1300 Recommended workpece weght [kg] 4 Max. permssble fnger length [mm] 200 Max. permssble mass per fnger [kg] 3 Repeat accuracy [mm] ± 0.05 Closng/openng tme [s] 1/1 Max. speed [mm/s] 210 Max. acceleraton [mm/s²] Weght [kg] 7.8 Mn./max. ambent temperature [ C] 5/55 Protecton class IP 41 Electrcal operatng data Nomnal voltage [V DC] 24 Nomnal current [A] 4.4 Max. current [A] 12.4 Controller electroncs ntegrated Communcaton nterface PROFIBUS, CAN, dgtal I/O Data rate [Mbt/s] 1.5 Data rate [Mbt/s] 1 Number of dgtal I/O 4/4 Parametrzed nterface RS232 The recommended workpece weght has been calculated for the maxmum grppng force. The maxmum grppng force can be acheved at max. speed and wth max. current, whch may only be appled temporarly. Please contact SCHUNK techncal sales for further enqures. 12

13 PEH 40 Man vew The drawng shows the grpper n the basc verson wth closed 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 counter part Maxmum permtted fnger projecton Permtted range Inadmssble range L max s equvalent to the maxmum permtted fnger length, see the techncal data table 13

14 PEH 40 ZBA-PFH ntermedate jaw ZBA-PFH 40 ntermedate jaw 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The optonal ntermedate jaw makes a screw connecton of the grpper fngers n Z-drecton possble. Furthermore, the ntermedate jaws compensate the parallel offset of the base jaws n Y- drecton and enable an algned connecton. The desgn of the customer-specfc grpper fngers s smplfed as a result. Descrpton ID Materal Scope of delvery Intermedate jaws ZBA-PFH Steel 2 Descrpton ID Materal Fnger nterface Intermedate jaws ZBA-PFH Steel PGN-plus 125 Scope of delvery 2 Connecton caps Connecton cap DMI HP Connecton cap DMI HQ Connecton cap MMI For connectng the modules to the power supply or superordnate control unt, the DMI or MMI connecton caps are requred. The DMI's wre strands are connected va connecton termnals. The MMI offers convenent connectons va plug connectors. Descrpton ID Connecton caps DMI 070-V05-B MMI 070-V05-D-CN MMI 070-V05-D-PB MMI 070-V05-E-CN MMI 070-V05-E-PB GK M16x1.5 for cable gude penetratng screw connecton The DMI's wre strands are connected va connecton termnals. The DMI s prepared for PROFIBUS and CAN communcaton nterfaces. Descrpton ID Connecton caps DMI 070-V05-B Further nformaton and accessores can be found n the followng dsplays. 14

15 PEH 40 Connecton cap MMI IT Voltage supply connecton M23 (logc / load) IK Connecton feldbus M12 IM Parametrzed nterface RS232 IN Connecton power supply servce box (SSB) IP External connecton M8 lmt swtch or dgtal I/O On opton, the MMI s avalable wth dgtal I/Os (D) or prepared for external end swtches (E). On opton, the MMI s avalable wth the PROFIBUS (PB) or CAN (CB) communcaton nterfaces. Descrpton ID Connecton caps MMI 070-V05-D-CN MMI 070-V05-D-PB MMI 070-V05-E-CN MMI 070-V05-E-PB

16 PEH 40 Power cable Connecton cables such as power cables and encoder cables are specfcally desgned for connectng SCHUNK products wth drve control unts. We wll gladly help you to select the rght connecton cables. 6 Connecton module sde AO Socket IT Prefabrcated to connect to the hgher-level components Descrpton ID L1 D3 [m] 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 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 PEH 40 PROFIBUS communcaton cables CAN communcaton cables 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] PROFIBUS communcaton cable - drag chan sutable 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 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 communcaton cable - drag chan sutable 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. 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. Termnaton resstor 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 ST SG1204-CN-A-A M12 Termnaton resstor - PROFIBUS ST SG1204-PB-A-A M12 An approprate termnatng resstor must be nstalled on the last module n the CAN or PROFIBUS strng. 17

18 PEH 50 Grppng force, O.D. grppng Fnger load Grppng force Speed Pont P - Fnger length M x max. 60 Nm M y max. 100 Nm M z max. 80 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 arse n addton to the moment generated by the grppng force tself. Stroke Techncal data Descrpton PEH 50 ID General operatng data Stroke per jaw [mm] 100 Mn./max. grppng force [N] 150/1800 Recommended workpece weght [kg] 9 Max. permssble fnger length [mm] 270 Max. permssble mass per fnger [kg] 4 Repeat accuracy [mm] ± 0.05 Closng/openng tme [s] 1.5/1.5 Max. speed [mm/s] 400 Max. acceleraton [mm/s²] Weght [kg] 16.8 Mn./max. ambent temperature [ C] 5/45 Protecton class IP 41 Electrcal operatng data Nomnal voltage [V DC] 24 Nomnal current [A] 10 Max. current [A] 25 Controller electroncs ntegrated Communcaton nterface PROFIBUS, CAN, dgtal I/O Data rate [Mbt/s] 1.5 Data rate [Mbt/s] 1 Number of dgtal I/O 4/4 Parametrzed nterface RS232 The recommended workpece weght has been calculated for the maxmum grppng force. The maxmum grppng force can be acheved at max. speed and wth max. current, whch may only be appled temporarly. Please contact SCHUNK techncal sales for further enqures. 18

19 PEH 50 Man vew The drawng shows the grpper n the basc verson wth closed 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 counter part Maxmum permtted fnger projecton Permtted range Inadmssble range L max s equvalent to the maxmum permtted fnger length, see the techncal data table 19

20 PEH 50 ZBA-PFH ntermedate jaws Connecton caps 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The optonal ntermedate jaw makes a screw connecton of the grpper fngers n Z-drecton possble. Furthermore, the ntermedate jaws compensate the parallel offset of the base jaws n Y- drecton and enable an algned connecton. The desgn of the customer-specfc grpper fngers s smplfed as a result. Descrpton ID Materal Fnger nterface Intermedate jaws ZBA-PFH Steel PGN-plus 160 Scope of delvery 2 HP Connecton cap DMI HQ Connecton cap MMI For connectng the modules to the power supply or superordnate control unt, the DMI or MMI connecton caps are requred. The DMI's wre strands are connected va connecton termnals. The MMI offers convenent connectons va plug connectors. Descrpton ID Connecton caps DMI 070-V05-B MMI 070-V05-D-CN MMI 070-V05-D-PB MMI 070-V05-E-CN MMI 070-V05-E-PB Further nformaton and accessores can be found n the followng dsplays. Connecton cap DMI Connecton cap MMI GK M16x1.5 for cable gude penetratng screw connecton The DMI's wre strands are connected va connecton termnals. The DMI s prepared for PROFIBUS and CAN communcaton nterfaces. Descrpton ID Connecton caps DMI 070-V05-B IT Voltage supply connecton M23 (logc / load) IK Connecton feldbus M12 IM Parametrzed nterface RS232 IN Connecton power supply servce box (SSB) IP External connecton M8 lmt swtch or dgtal I/O On opton, the MMI s avalable wth dgtal I/Os (D) or prepared for external end swtches (E). On opton, the MMI s avalable wth the PROFIBUS (PB) or CAN (CB) communcaton nterfaces. Descrpton ID Connecton caps MMI 070-V05-D-CN MMI 070-V05-D-PB MMI 070-V05-E-CN MMI 070-V05-E-PB

21 PEH 50 Power cable Connecton cables such as power cables and encoder cables are specfcally desgned for connectng SCHUNK products wth drve control unts. We wll gladly help you to select the rght connecton cables. 6 Connecton module sde AO Socket IT Prefabrcated to connect to the hgher-level components Descrpton ID L1 D3 [m] 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 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. 21

22 PEH 50 PROFIBUS communcaton cables 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] PROFIBUS communcaton cable - drag chan sutable 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. CAN 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 communcaton cable - drag chan sutable 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 ST SG1204-CN-A-A M12 Termnaton resstor - PROFIBUS ST SG1204-PB-A-A M12 An approprate termnatng resstor must be nstalled on the last module n the CAN or PROFIBUS strng. 22

23 PEH 50 23

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