SCHUNK PRH Instructions d'utilisation
Translation of the original manual
Assembly and Operating Manual
PRH
Servo Electrical Miniature Rotary Unit
Imprint
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3.00 | PRH | Assembly and Operating Manual | en | 389327
Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights
reserved. Any reproduction, processing, distribution (making available to third parties),
translation or other usage - even excerpts - of the manual is especially prohibited and
requires our written approval.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 389327
Version: 3.00|20/02/2019|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. We will find a solution!
Best regards,
Your SCHUNK team
SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. +49-7133-103-0
Fax +49-7133-103-2399
schunk.com
Table of contents
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Table of contents
1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................ 5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Applicable documents ..............................................................................6
1.1.3 Sizes ..........................................................................................................6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery .................................................................................................. 7
1.4 Accessories ........................................................................................................... 7
2 Basic safety notes ................................................................................................... 8
2.1 Intended use......................................................................................................... 8
2.2 Not intended use.................................................................................................. 8
2.3 Constructional changes ........................................................................................ 8
2.4 Spare parts ........................................................................................................... 9
2.5 Ambient conditions and operating conditions .....................................................9
2.5.1 Electromagnetic compatibility..................................................................9
2.5.2 Environmental conditions.......................................................................11
2.6 Personnel qualification....................................................................................... 13
2.7 Personal protective equipment.......................................................................... 14
2.8 Notes on safe operation ..................................................................................... 14
2.9 Transport ............................................................................................................ 15
2.10 Malfunctions....................................................................................................... 15
2.11 Disposal .............................................................................................................. 15
2.12 Fundamental dangers......................................................................................... 15
2.12.1 Protection during handling and assembly ..............................................16
2.12.2 Protection during commissioning and operation ...................................16
2.12.3 Protection against dangerous movements.............................................17
2.12.4 Protection against electric shock............................................................18
2.12.5 Protection against magnetic and electromagnetic fields .......................19
2.13 Notes on particular risks..................................................................................... 20
3 Technical data.........................................................................................................22
3.1 Basic data ........................................................................................................... 22
3.2 Factory settings / DEFAULT values ..................................................................... 26
3.3 Requirements for the voltage supply .................................................................26
4 Design and description............................................................................................27
4.1 Design ................................................................................................................. 27
4.2 Functional principle ............................................................................................ 28
Table of contents
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5 Assembly and installation .......................................................................................29
5.1 Mechanical connection ...................................................................................... 29
5.2 Assembly example.............................................................................................. 30
5.3 Electrical connection .......................................................................................... 31
5.3.1 USB parameterization interface .............................................................31
5.3.2 CAN interface..........................................................................................32
5.3.3 Profibus DP interface..............................................................................34
5.3.4 Digital Inputs...........................................................................................36
5.3.5 DEFAULT and BOOT function..................................................................39
5.4 Handling after switching on................................................................................ 40
5.5 "Endless turning" application ............................................................................. 40
6 Troubleshooting .....................................................................................................41
6.1 Product does not move ...................................................................................... 41
6.2 Motor does not turn........................................................................................... 41
6.3 Product stops abruptly ....................................................................................... 41
6.4 Reference run not possible................................................................................. 41
7 Maintenance ..........................................................................................................42
7.1 Maintenance intervals........................................................................................ 42
7.2 Disassembly and assembling .............................................................................. 42
8 Translation of original declaration of incorporation ................................................43
9 Annex to Declaration of Incorporation....................................................................44
General
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1 General
1.1 About this manual
This manual contains important information for a safe and
appropriate use of the product.
This manual is an integral part of the product and must be kept
accessible for the personnel at all times.
Before starting work, the personnel must have read and
understood this operating manual. Prerequisite for safe working is
the observance of all safety instructions in this 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 [}6] 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 cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
NOTICE
Material damage!
Information about avoiding material damage.
General
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1.1.2 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
• Software manual "Motion Control SCHUNK" *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.1.3 Sizes
This operating manual applies to the following sizes:
• PRH - 050
• PRH - 060
• PRH - 075
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.
General
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1.3 Scope of delivery
The scope of delivery includes
• Servo-electric miniature rotary unit PRH
in the version ordered
• Centering sleeve
• SMP firmware
• DVD
Contents of DVD:
• "SCHUNK Motion Tool (MTS)" configuration and commissioning
tool
• Software manual "Motion Control SCHUNK"
• Assembly and Operating Manual
• USB driver
1.4 Accessories
A wide range of accessories are available for this product
• Schunk service box SSB
• Schunk V4 distributor
• Bus connection cable
• Power supply cable
• Bus terminators
For information regarding which accessory articles can be used
with the corresponding product variants, see catalog data sheet.
Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product serves solely to rotate and turn workpieces or objects
up to 10x360°.
• The product may only be used within the scope of its technical
data, Technical data [}22].
• When implementing and operating components in safety-
related parts of the control systems, the basic safety principles
in accordance with DIN EN ISO 13849-2 apply. The proven safety
principles in accordance with DIN EN ISO 13849-2 also apply to
categories 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 is intended for industrial and industry-oriented use.
• Appropriate use of the product includes compliance with all
instructions in this manual.
2.2 Not intended use
It is not intended use if the product is used, for example, as a
pressing tool, stamping tool, lifting gear, guide for tools, cutting
tool, clamping device or a drilling tool.
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
2.3 Constructional changes
Implementation of structural changes
By conversions, changes, and reworking, e.g. additional threads,
holes, or safety devices can impair the functioning or safety of the
product or damage it.
• Structural changes should only be made with the written
approval of SCHUNK.
Basic safety notes
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2.4 Spare parts
Use of unauthorized 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, considerable material
damage and/or a significant reduction to the product's life span.
• Make sure that the product is used only in the context of its
defined application parameters, Technical data [}22].
2.5.1 Electromagnetic compatibility
The product meets the requirements of the EMC act of the inner-
European market, among other requirements. The product has
passed the EMC test as per the following standards:
Standard Title
EN 61000-6-2 (2006) EMC: Generic standard – Immunity for industrial
environments
EN 61000-6-3 (2011) EMC: Generic standard – Emission standard for residential
and light-industrial environments
The product must be installed using interference-free cables and in
a way that meets EMC requirements in order to ensure
interference-free operation.
Interference Pulse-shaped interference:
The following table shows the electromagnetic compatibility in
relation to pulse-shaped interference.
Pulse-shaped interference Tested with Corresponds
to degree of
severity
Electrostatic discharge as per
EN 61000-4-2 (2008)
Air discharge: 8 kV
Contact discharge: 4 kV
3
Burst pulses, fast transient
interference as per
EN 61000-4-4 (2008)
Supply line: + - 2 kV
On signal, data and control cable: + -
1kV
3
High-energy single pulse (surge)
EN 61000-4-5
+ - 500V, symmetrical surge,
+ - 500V, asymmetrical surge
(Cable length > 30 m)
1
Basic safety notes
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Sinusoidal interference:
The following table shows the electromagnetic compatibility in
relation to sinusoidal interference.
Sinusoidal interference Test values Corresponds
to degree of
severity
HF radiation
(electromagnetic fields) as per
EN 61000-4-3
80% amplitude modulation at
1 kHz to 10 V/m in the range of
80 … 1000 MHz to 3 V/m in the range
of 1.4 … 2 GHz to 1 V/m in the range of
2 … 2.7 GHz
3
HF energization on cables and cable
shielding as per
EN 61000-4-6
Test voltage 10 V with amplitude
modulation
80% of 1 kHz in the range of
150 kHz … 80 MHz
3
Emission of radio
interference
Emissions were tested and confirmed as per EN 61000-6-3.
Conducted interference emissions Value
0.15 … 0.5 MHz
0.5 … 5 MHz
5 … 30 MHz
< 66 dB (µV) quasi-peak, < 56 dB (µV) average
< 56dB (µV) quasi-peak, < 46 dB (µV) average
< 60 dB (µV) quasi-peak, < 50 dB (µV) average
The following table shows the interference emission from
electromagnetic fields as per EN 55011:2009, limit class A, group 1,
measured at a distance of 10 m.
Interference Value
30 … 230 MHz
230 … 1000MHz
< 30 dB (µV) quasi-peak, measured at 10m
< 37 dB (µV) quasi-peak, measured at 10m
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