Product Quickfinder · s nutp i al t i g Di for easy and integrated query of sensor signals sez i...

Page Swivel angle [°] Rated torque [Nm] Weight [kg] Ambient conditions Comprehensive range of options Monitoring options

Motor Motor controller

Controller*

360 0 – 1 1 – 10 10 – 100 100 – 200 0 – 1 1 – 10 10 – 100

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Rotary units

Universal rotary unit PR 2• High torque• Range of transmission variants

138 ● ● ● ● ● integrated integrated

Miniature rotary unit PRH• High accuracy due to precision

gear unit146 ● ● ● ● ● ● integrated integrated

Miniature rotary unit ERD• With absolute-value transducer• With rotary feed-through

154 ● ● ● ● ● integrated external ● ◯ ◯ ◯ ◯

Universal rotary unit ERS• With center bore or rotary

feed-through162 ● ● ● ● ● ● ● integrated external ● ● ◯ ◯ ◯ ◯

Heavy-duty rotary module ERM• Adaptable servo motor 172 ● ● ● ● ● ● ● ● external external ● ● ◯ ◯ ◯ ◯

Rotary pan-tilt actuators

Pan-tilt actuator PW V6• Two rotary axes in one module 178 ● ● ● ● ● ● integrated integrated

Drives

Compact drive PDU 2• High torque• Range of transmission variants


Compact drive PSM 2• Short cycle times• High rotational speeds


4.3 – 98 1.9 – 6.4

0.75 – 6.8 0.75 – 1.55

0.4 – 1.2 1.2 – 1.8

2.5 – 10 2.7 – 10.9

15.5 – 21.575

2 – 23 1.8 – 3.4

1.9 – 6.14.3 – 98

0.16 – 0.88 1.3 – 3.9

Produkt-Quickfinder-Handhabungskomponenten_EN.indd 24 26.07.19 08:54



Controller*

360 0 – 1 1 – 10 10 – 100 100 – 200 0 – 1 1 – 10 10 – 100

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Rotary units












Drives





● = Very highly suitable ◐ = Highly suitable ◯ = Suitable in customized version

4.3 – 98 1.9 – 6.4

0.75 – 6.8 0.75 – 1.55

0.4 – 1.2 1.2 – 1.8

2.5 – 10 2.7 – 10.9

15.5 – 21.575

2 – 23 1.8 – 3.4

1.9 – 6.14.3 – 98

0.16 – 0.88 1.3 – 3.9


136

Rotary Modules, electric Product Quickfinder



Controller*

360 0 – 1 1 – 10 10 – 100 100 – 200 0 – 1 1 – 10 10 – 100

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Rotary units












Drives





4.3 – 98 1.9 – 6.4

0.75 – 6.8 0.75 – 1.55

0.4 – 1.2 1.2 – 1.8

2.5 – 10 2.7 – 10.9

15.5 – 21.575

2 – 23 1.8 – 3.4

1.9 – 6.14.3 – 98

0.16 – 0.88 1.3 – 3.9




Controller*

360 0 – 1 1 – 10 10 – 100 100 – 200 0 – 1 1 – 10 10 – 100

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● = Very highly suitable ◐ = Highly suitable ◯ = Suitable in customized version

4.3 – 98 1.9 – 6.4

0.75 – 6.8 0.75 – 1.55

0.4 – 1.2 1.2 – 1.8

2.5 – 10 2.7 – 10.9

15.5 – 21.575

2 – 23 1.8 – 3.4

1.9 – 6.14.3 – 98

0.16 – 0.88 1.3 – 3.9


137

Rotary Modules, electric Product Quickfinder

138

PR 2 Rotary Modules, electric | Rotary Units | Universal Rotary Unit

Intelligent. Precise. Dynamic.

Universal Rotary Unit PR 2 Servo-electric rotary unit with an angle of rotation of > 360°, precision gear, and integrated electronics

Field of Application V ersatile, ultra-flexible rotary unit used in clean and slightly contaminated environments as a component of positioning systems or as an axis module of lightweight arms used in fields of industry or service robotics.

Advantages – Your benefits Brushless DC servomotor for flexible use by controlled position, velocity, and torque

Precision gearboxes with different transmission variants for high torque with fast acceleration and short cycle times at a high precision

Fully integrated control and power electronics for creating a decentralized control system

Versatile actuation options for simple integration into existing control concepts via PROFIBUS-DP, or CAN

Standard connecting elements and integrated control concept for extensive combination possibilities with other mechatronic modules

Service interface: USB host and USB device for comfor-table parameter setting and firmware updates by USB flash drive or PC

Rotary encoding switch and DIP switch for manual fieldbus addressing, baud rate setting and service functions

Digital inputs for easy and integrated query of sensor signals

Sizes Quantity: 3

Weight 1.9 .. 6.4 kg

Torque 4.3 .. 98 Nm

Repeat accuracy 0.03°

Angle of rotation >360°

139


PR 2 PR 2

Functional Description The rotary unit has a Harmonic Drive ® precision gear, which is directly driven by a brushless DC servomotor. Due to the integrated electric holding brake, position mainte-nance can be ensured.

PR 2 1 Control electronics Integrated control and power electronics 2 Encoder

For position evaluation

3 Drive Brushless DC servomotor

4 Harmonic Drive ® gears For different gear ratios and high rigidity

5 Holding brake For maintaining position on shutdown and power failure

6 Service window With customer interface for service functions, altering bus address, USB connection and LED status display

140


General Notes about the Series Housing material: Aluminum alloy, coated

Actuation: Servo-electric, via brushless DC servomotor

Operating principle: Harmonic drive® gear driven directly via brushless DC servomotor

Scope of delivery: DVD with SCHUNK software and commis-sioning assistant, assembly and operating manual, declaration of incorporation, functional module for control via Siemens S7.

Warranty: 24 months

Swiveling times: Are purely the times of the module to rotate from rest position to rest position. Relay switching times or PLC reaction times are not included in the above times and must be taken into consideration when deter-mining cycle times. Load-dependent rest periods may have to be included in the cycle time.

Repeat accuracy: Is defined as the spread of the target position after 100 consecutive positioning cycles.

Nominal currents: Can be permanently actuated. With regard to all the currents which are ranging above the nominal current up to the maximum current, the notes of the individual product documentation has to be respected.

Electrical brake: The installed, electric holding brake serves to fix and hold the position in case of power failure up to the rated torque. It cannot cover any complete safety functions.

Peak torque: The peak torques serve as short-term drive reserves when accelerating and delaying.

Application Example Extremely flexible handling unit for gripping and transporting of various workpieces with random position orientation.

1 Universal gripper EGL 2 Servo-electric rotary pan-tilt

actuator PW 3 2 servo-electric rotary module PR

4 2 servo-electric drive PDU 5 Linear module Beta with toothed-

belt drive

141


SCHUNK offers more ... The following components make the product PR 2 even more productive – the suitable addition for the highest functionality, flexibility, reliability, and controlled production.

Universal gripper Linear module Room gantry Drive

Force/torque sensor Connecting elements Connection cable Communication cable

i Further information on these products can be found on the following product pages or at schunk.com. Please contact us: SCHUNK technical hotline +49-7133-103-2696

Options and special Information Integrated electronics: The electric control of the PR is carried out by the fully integrated control and power electronics. Hence, the module does not require any additional external control units. Easy integration: There is a varied range of interfaces available, such as PROFIBUS DP or CAN as types of communication. This enables the assembly of industrial bus networks and ensures easy integration into existing control systems. Monitoring functions: I²t monitoring, current monitoring, power failure detection, contouring error monitoring, software end position monitoring, position monitoring

142

PR 2 70 Rotary Modules, electric | Rotary Units | Universal Rotary Unit

More detailed, up-to-date information on the SCHUNK product including drawings, CAD data, and operating manuals are available online at: schunk.com/pr-2

Torque-RPM specifications

Torque

RPM

� Nominal RPM � Max. RPM � Nominal torque � Max. torque � Standstill torque

Dimensions and maximum loads

M y max. 40 Nm

F x max. 350 N

F z max. 345 N

i Moments and forces may occur simultaneously.

Technical data

Description PR 2-070-51-PB-I PR 2-070-101-PB-I PR 2-070-161-PB-I

ID 0359450 0359470 0359490

Mechanical operating data

Nominal torque [Nm] 4.3 10.6 14

Max. torque [Nm] 16.8 39 55.8

Standstill torque [Nm] 5.3 12.4 18.8

Nominal RPM [RPM] 45 25 15

Max. RPM [RPM] 78 40 25

Max. mass moment of inertia [kgm²] 0.14 0.55 1.4

Repeat accuracy [°] 0.03 0.03 0.03

Transmission 51:1 101:1 161:1

General operating data

Brake Yes Yes Yes

Weight [kg] 1.9 1.9 1.9

Min./max. ambient temperature [°C] 5/50 5/50 5/50

Protection class IP 40 40 40

Dimensions X x Y x Z [mm] 113 x 70 x 140.5 113 x 70 x 140.5 113 x 70 x 140.5

Electrical operating data

Nominal voltage [V] 24 24 24

Nominal current [A] 5 5 5

Max. current [A] 16 16 16

Integrated control electronics

Power supply [V] 24 24 24

Encoder system Encoder (incremental) Encoder (incremental) Encoder (incremental)

PROFIBUS interface [Mbit/s] 12 12 12

USB interface Host/device Host/device Host/device

Number of digital I/O 2/- 2/- 2/-

Options and their characteristics

CAN version PR 2-070-51-CN-I PR 2-070-101-CN-I PR 2-070-161-CN-I

ID 0359451 0359471 0359491

Data rate [Mbit/s] 1 1 1

i The “maximum current” value refers to the peak current during overload operation, the rated current is an effective current. Depending on the ambient temperature, speed, acceleration and inertia, the appropriate idle times are to be provided.

143



Torque

RPM



M y max. 80 Nm

F x max. 800 N

F z max. 590 N


Technical data


ID 0359510 0359530 0359550


Nominal torque [Nm] 12.8 32 51.2

Max. torque [Nm] 24 49.6 76.8



Max. RPM [RPM] 78 40 25





Brake Yes Yes Yes

Weight [kg] 3.7 3.7 3.7
















ID 0359511 0359531 0359551



144


More detailed, up-to-date information on the SCHUNK product including drawings, CAD data, and operating manuals are available online at: schunk.com/pr-2


Torque

RPM



M y max. 120 Nm

F x max. 1000 N

F z max. 895 N


Technical data


ID 0359570 0359590 0359610



Max. torque [Nm] 62.5 142.5 205

Standstill torque [Nm] 29.6 66.4 108

Nominal RPM [RPM] 22.5 11.5 7

Max. RPM [RPM] 41.5 21 13





Brake Yes Yes Yes

Weight [kg] 6.4 6.4 6.4
















ID 0359571 0359591 0359611



145

Notes

146

PRH Rotary Modules, electric | Rotary Units | Miniature Rotary Unit

Precise. Compact. Bus capable.

Miniature Rotary Unit PRH Servo-electric miniature rotary unit with an angle of rotation of > 360°, center bore, and precision gear

Field of Application Versatile, highly flexible rotary unit used for clean or highly contaminated environments .


High torque, velocity, and precision for fast acceleration and short cycle times at a high precision



High protection class up to IP65 for use in very dirty environments

Compact design for minimal interfering contours and for use in confined spaces

Sizes Quantity: 3

Weight 0.75 .. 1.55 kg

Torque 0.75 .. 6.8 Nm



147


PRH PRH

Functional Description The rotary unit has a Harmonic Drive ® precision gear, which is directly driven by a brushless DC servomotor.

PRH 1 Electrical connection For connection of power supply and communication 2 Control electronics Integrated control and power electronics for decentra-lized control of the servomotor

3 Drive with gear Harmonic Drive ® gear motor

148


General Notes about the Series Housing material: Aluminum alloy




Warranty: 24 months





Application Example Rotary gripper combination with two sensitive servo-electric parallel grippers for flexible handling of sensitive workpieces 1 Servo-electric rotary module PRH 2 Servo-electric 2-finger parallel

gripper EVG

149


SCHUNK offers more ... The following components make the product PRH even more productive – the suitable addition for the highest functionality, flexibility, reliability, and controlled production.

Gripper for small components Linear module Line gantry Service box

Connection cable Communication cable


Options and special Information Integrated electronics: The electrical control of the PRH is carried out by the fully integrated control and power electronics. Hence, the module does not require any additional external control units. Variety of interfaces: A wide range of interfaces are available for communication, such as USB for configuration, four digital inputs, PROFIBUS-DP and CAN for setting up of bus networks. Thus a simple integration into existing control concepts is possible. Unique mechatronic modular system: Further mechatronic products are available for creating combined systems (e.g. gripping/rotary units).

150

PRH 50 Rotary Modules, electric | Rotary Units | Miniature Rotary Unit

More detailed, up-to-date information on the SCHUNK product including drawings, CAD data, and operating manuals are available online at: schunk.com/prh

Swivel time diagram

Inertia

Swiveling time


M y max. 15 Nm

F x max. 200 N

F z max. 200 N


Technical data

PROFIBUS variant PRH 050-030-PB-54 PRH 050-050-PB-54 PRH 050-100-PB-54

ID 0306872 0306870 0306875


Rated/maximum torque [Nm] 0.75/1.8 1.5/3.3 2/4.8

Rated/maximum RPM [RPM] 117/200 70/120 35/60


Repeat accuracy [°] 0.004 0.004 0.004

Radial/axial runout [mm] 0.01/0.01 0.01/0.01 0.01/0.01



Weight [kg] 0.75 0.75 0.75



Dimensions X x Y x Z [mm] 117.5 x 67 x 64 117.5 x 67 x 64 117.5 x 67 x 64



Nominal current [A] 1.6 1.7 1.3

Max. current [A] 3 3.3 2.4




Interface PROFIBUS, USB (parameterization) PROFIBUS, USB (parameterization) PROFIBUS, USB (parameterization)


USB interface Device Device Device

Number of digital I/O 4/0/-/- 4/0/-/- 4/0/-/-


CAN version PRH 050-030-CN-54 PRH 050-050-CN-54 PRH 050-100-CN-54

ID 0306873 0306871 0306876

Communication interface CAN, USB (parameterization) CAN, USB (parameterization) CAN, USB (parameterization)


i The peak torques serve as short-term drive reserves when accelerating and delaying.

151


Swivel time diagram

Inertia

Swiveling time


M y max. 40 Nm

F x max. 300 N

F z max. 300 N


Technical data


ID 0306882 0306880 0306885


Rated/maximum torque [Nm] 1.8/4.5 2.9/8.3 4.2/11



Repeat accuracy [°] 0.004 0.004 0.004




Weight [kg] 0.97 0.97 0.97



Dimensions X x Y x Z [mm] 127.5 x 67 x 64.5 127.5 x 67 x 64.5 127.5 x 67 x 64.5




Max. current [A] 7.8 8.2 5.6




Interface PROFIBUS, USB (parameterization) PROFIBUS, USB (parameterization)






ID 0306883 0306881 0306886




152


More detailed, up-to-date information on the SCHUNK product including drawings, CAD data, and operating manuals are available online at: schunk.com/prh

Swivel time diagram

Inertia

Swiveling time


M y max. 75 Nm

F x max. 500 N

F z max. 500 N


Technical data


ID 0306892 0306890 0306895


Rated/maximum torque [Nm] 3.5/9 4.7/18 6.8/28



Repeat accuracy [°] 0.004 0.004 0.004




Weight [kg] 1.55 1.55 1.55



Dimensions X x Y x Z [mm] 142.5 x 75 x 69.5 142.5 x 75 x 69.5 142.5 x 75 x 69.5




Max. current [A] 14.8 16.4 12.3




Interface PROFIBUS, USB (parameterization) PROFIBUS, USB (parameterization) PROFIBUS, USB (parameterization)






ID 0306893 0306891 0306896




153

Notes

154

ERD Rotary Modules, electric | Rotary Units | Miniature Rotary Unit

Fast. Compact. Flexible.

Miniature Rotary Unit ERD Powerful torque motor with absolute encoder and electric and pneumatic rotary feed-through

Field of Application For all applications with exceptional requirements in terms of achievable repeat accuracy, rotary speed, acceleration and service life.

Advantages – Your benefits With absolute path measuring system less programming effort and time saving when commissioning and in operation

High dynamics for shorter cycle times therefore a high productivity is achieved

Integrated air and electric feed-through for safe energy supply of the grippers

Almost no wear parts for long service life and reliability of the system

No mechanical play between the drive components for flexible response behavior and high positioning accuracy

Sizes Quantity: 3


Torque 0.4 .. 1.2 Nm



155


ERD ERD

Functional Description The unit is driven by a 3-phase brushless synchronous motor with permanent excitation. As it is a direct drive, it no longer needs mechanical transmission elements such as gears, eliminating the resulting inaccuracies.

ERD 1 Motor plug Standard M17 connector for comfortable connection of motor phases and temperature sensor

2 Absolute encoder plug Easy connection of encoder cable by standard M12 connectors

3 Fixed primary part Stator with 3-phase ferromagnetic core coil

4 Secondary component Iron girder with integrated permanent magnets as rotor

5 Energy feed-through Integrated 2-fold air feed-through and optional 4-fold electric feed-through

6 Housing I s weight-optimized due to the use of high-strength aluminum alloy

156


General Notes about the Series Housing material: Aluminum alloy, surface-finished

Drive: Torque motor, 3-phase

Path measuring system: Motor feedback system for absolute measurement, multiturn version (up to 4,096 RPM), with HIPERFACE ® interface

Drive controller: Bosch Rexroth IndraDrive Cs control unit is supported as standard; matching parameters supplied on DVD, other manufacturers available on request.

Scope of delivery: Enclosed accessory pack containing centering sleeve, assembly and operating manual, commissioning DVD for SCHUNK motors

Warranty: 24 months

Swiveling times: The swiveling times are purely the times when the module moves from rest position to rest position. Delays caused by the PLC or the drive controller are not included and to be taken into consideration when determining cycle times. Load-dependent rest periods may have to be included in the cycle time.

Layout or control calculation: Verifying the sizing of the selected unit is necessary, since otherwise overloading can result. Please contact us for assistance.

Repeat accuracy: The repeat accuracy is defined as the spread of the target position after 100 consecutive positioning cycles.

Ambient conditions: The modules are particularly designed for the use in clean to slightly contaminated ambient conditions. Please note that the life time of the modules can shorten if they are used in harsh ambient conditions, and that SCHUNK cannot assume liability in such cases.

Safety notes: Caution: Magnetic field! This particularly applies for persons with implanted medical devices, such as pacemakers, hearing aids, etc.

Nominal currents: The rated currents can be permanently actuated. With regard to all the currents which are ranging above the nominal current up to the maximum current, the notes of the individual product documenta-tion has to be respected.

Application Example Linear gripper rotary unit for dynamic movement of small components. 1 2-finger parallel gripper MPG-plus 2 Miniature rotary module ERD 3 Stroke module LDK 4 Universal linear module LDN 5 Universal linear module LDT

157


SCHUNK offers more ... The following components make the product ERD even more productive – the suitable addition for the highest functionality, flexibility, reliability, and controlled production.

Gripper for small components Gripper for small components Linear module Pick & Place unit

Room gantry Controller Power and encoder cables


Options and special Information Pneumatic rotary feed-through: The rotary module ERD comes with two pneumatic feed-throughs by default. The pneumatic hoses can be connected radially to the rotary table on the output side. Alternatively, hose-free direct connec-tions are also available in the center of the rotary table. Electrical rotary feed-through: For versions with electrical feed-through, a feed-through with up to four electrical signals is possible in addition to the integrated pneumatic feed-through. Connected on the drive side using an M8 connector (4-pin). The rotary table has a radially aligned M8 socket (4-pin) on the output side. Connection of power and sensor cables: The rotary module is connected to the drive controller via separate power and encoder cables. The rotary module includes an M17 plug connector for connecting the power cable and an M12 plug connector for connecting the sensor cable. Customized lengths or cable extensions are available on request.

158

ERD 04 Rotary Modules, electric | Rotary Units | Miniature Rotary Unit

More detailed, up-to-date information on the SCHUNK product including drawings, CAD data, and operating manuals are available online at: schunk.com/erd

Swivel time diagram

Mass moment of inertia Pause time

Swiveling time

i Swivel and pause times apply for motions without restricted speeds at max. current. Reducing the max. current increases swivel periods and reduces rest periods. Higher mass moments of inertia are possible. Diagrams only apply for sufficiently rigid designs. Please contact us for assistance with the design of your application.


F x max. 150 N

F z max. 150 N

M y max. 2.5 Nm


Technical data

Description ERD 04-40-D-H-N ERD 04-40-N-H-N

ID 0331220 0331224


Rated/maximum torque [Nm] 0.4/1.2 0.4/1.2

Max. RPM [RPM] 600 600

Max. mass moment of inertia [kgmm²] 500 500

Repeat accuracy [°] 0.01 0.01

Weight [kg] 1.2 1.2

Min./max. ambient temperature [°C] 10/40 10/40

Protection class IP 40 40

Dimensions X x Y x Z [mm] 68 x 60 x 124 68 x 60 x 124


Intermediate circuit voltage [V] 530 530

Rated/maximum current [A] 0.43/1.29 0.43/1.29

Encoder system Encoder (absolute) Encoder (absolute)

Output signal Hiperface Hiperface

SIL certification Not certified Not certified

Operating data of the rotary feed-through

Number of pneumatic feed-throughs

2 2

Max. operating pressure [bar] 6 6

Number of electrical feed-throughs 4

Max. voltage (DC) [V] 60

Max. current [A] 1


159


Swivel time diagram


Swiveling time



F x max. 150 N

F z max. 150 N

M y max. 2.5 Nm


Technical data


ID 0331230 0331234






Weight [kg] 1.5 1.5












2 2




Max. current [A] 1



ID 0331238 0331242


Weight [kg] 1.55 1.55

Nominal torque [Nm] 0.8 0.8


160


More detailed, up-to-date information on the SCHUNK product including drawings, CAD data, and operating manuals are available online at: schunk.com/erd

Swivel time diagram


Swiveling time



F x max. 150 N

F z max. 150 N

M y max. 2.5 Nm


Technical data


ID 0331250 0331254






Weight [kg] 1.8 1.8












2 2




Max. current [A] 1



ID 0331258 0331262


Weight [kg] 1.8 1.8

Nominal torque [Nm] 1.2 1.2


161

Notes

162

ERS Rotary Modules, electric | Rotary Units | Universal Rotary Unit

Compact. Flexible. Fast.

Universal Rotary Unit ERS Electrical rotary unit with torque motor and angle of rotation > 360° as well as the optional pneumatic holding brake and rotary feed-through, and if desired increased protection class (IP54)

Field of Application All-purpose, highly flexible rotary unit for applications with extraordinary demands on the load moment of inertia, compactness and reliability. Suitable for clean and slightly contaminated environments as a component of positioning systems.

Advantages – Your benefits Integrated torque drive for high torque and flexible use by controlled position, velocity and torque

Large center bore for feed-through lines and media hoses

Compact design for minimal interfering contours and for use in confined spaces

Easy system integration by standard encoder interface (Sin/Cos)

Versatile actuation options for simple integration into existing control concepts using different external third-party controllers (e.g. Bosch Rexroth IndraDrive or Siemens SINAMICS)

Optional pneumatic holding brake for maintaining the position in downtime

Sizes Quantity: 3

Weight 2.7 .. 10.9 kg

Torque 2.5 .. 10 Nm



163


ERS ERS

Functional Description The rotary module ERS is based on a permanently energized torque motor, whose large center bore ensures a media feed-through. The position is ensured using a four point bearing, which is designed for high maximum moments.

Alternatively, the ERS is equipped with a pneumatically actuated holding brake. On option it can be also equipped with a rotary feed-through, which supplies the assembly with compressed air or electric signals for infinite rotational movements.

1 Base support stator For appropriate stability even at higher torques

2 Stator With windings

3 External rotor with center bore For cable feed-through

4 Pneumatic holding brake For maintaining the position in downtime

5 Electrical coupling flange with plug connectors For connection of power and encoder cable

6 Micro valve For the pneumatic brake option

164


Detailed Functional Description

Centering the structure

The electric rotary module ERS is suitable for applications with high demands when it comes to axial and radial run-out. For adaptation and correct approval of the run-out, there is one centering diameter in the basic version and the version with rotary feed-through. This can be seen in the main view. The structure can be prevented from over-rotating using an alignment pin.

1 ERS in basic version

2 Screw connection

3 Alignment pin

4 Centering groove

Variant with pneumatic holding brake

The holding brake is pneumatically actuated. The holding brake is activated in the non-active state. The brake is controlled by two micro valves, which in turn can be controlled using the respective drive controller. The micro valves are included in the scope of delivery.

1 Micro valves MV

2 Brake piston

3 Internal hosing

Variant with integrated rotary feed-through for electrical signals and compressed air

The optional rotary feed-through of the ERS provides the opportunity of leading eight electric signals and a compressed air supply through the module. The electric connection is carried out by eight 3-pin M8 connectors on the drive and output flange. The compressed air supply can be removed either via a side outlet or a hose-free direct connection.

1 Rotary module ERS with DDF

2 Micro valves MV

3 2-finger parallel gripper PGN-plus

Flexible choice of controller

The rotary module ERS is versatile and can be combined with different drive controllers. The connection takes place via two standardized plug connectors, separated for motor and encoder cable. The parameters for the drive controllers shown are included on DVD.

1 ERS with 560 V motor

2 Controller Bosch Rexroth IndraDrive CS

3 Controller Siemens SINAMICS S120

4 Sensor module Siemens SME

165

ERSRotary Modules, electric | Rotary Units | Universal Rotary Unit

Ordering Example ERS

ERS - 210 - 560 - 40 - B - N - I

Sizes ERS 135 ERS 170 ERS 210

Voltage Nominal voltage engine = 560 V

Protection class IP IP = 40 IP = 54

Pneumatic holding brake N = Without pneumatic holding brake B = With pneumatic holding brake

Rotary feed-through N = Without rotary feed-through D = With rotary feed-through

Encoder system I = Incremental

166



Drive: Torque motor, 3-phase

Path measuring system: Contactless, magnetic measuring system in incremental design, 1Vss interface

Drive controller: Bosch Rexroth IndraDrive C/Cs or Siemens SINAMICS S120 controllers supported as standard; matching parameters supplied on DVD, other manufacturers available on request.

Scope of delivery: Accessories with centering pins, assembly and operating manual with installation declara-tion of incorporation, DVD commissioning for SCHUNK motors; for the holding brake option, two micro valves are supplied for actuating the brake

Warranty: 24 months

Swiveling times: The swiveling times are purely the times when the module moves from rest position to rest position. Delays caused by the PLC or the drive controller are not included and to be taken into consideration when determining cycle times. Load-dependent rest periods may have to be included in the cycle time.

Layout or control calculation: Verifying the sizing of the selected unit is necessary, since otherwise overloading can result. Please contact us for assistance.

Repeat accuracy: The repeat accuracy is defined as the spread of the target position after 100 consecutive positioning cycles.

Ambient conditions: The modules are particularly designed for the use in clean to slightly contaminated ambient conditions. Please note that the life time of the modules can shorten if they are used in harsh ambient conditions, and that SCHUNK cannot assume liability in such cases.

Safety notes: Caution: Magnetic field! This particularly applies for persons with implanted medical devices, such as pacemakers, hearing aids, etc.

Nominal currents: The rated currents can be permanently actuated. With regard to all the currents which are ranging above the nominal current up to the maximum current, the notes of the individual product documenta-tion has to be respected.

Application Example Electrically driven high-speed gantry for palletizing and depalletizing and re-orientation of different and sensitive components.

1 Universal rotary module ERS 2 Universal gripper WSG 3 Universal linear module LDT

4 Universal linear module LDM 5 Universal linear module LDN

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SCHUNK offers more ... The following components make the product ERS even more productive – the suitable addition for the highest functionality, flexibility, reliability, and controlled production.

Universal gripper Long-stroke gripper Linear module Room gantry

Micro valve Controller Power and encoder cables


Options and special Information Using the pneumatic holding brake: The installed brake is only designed to be used as a holding brake. Consequently, it may only be actuated when stationary. Use as an operating brake is not permitted and significantly increases wear. Cycle time design with pneumatic holding brake: The piston fill time of a pneumatically operated holding brake is between 100 and 200 ms depending on the size of the rotary module. This time is already permanently stored in the standard parameter sets for the Siemens and Bosch Rexroth controllers. Electric and pneumatic rotary feed-through: The ERS with rotary feed-through may be operated with a max. speed of rotation of 250 RPM due to the integrated seals and the slip ring. The current load per signal line (pin 4 on the M8 connector) is 2 A. The collected power supply via pin 1 of the M8 connector may not exceed 4 A.

168

ERS 135 Rotary Modules, electric | Rotary Units | Universal Rotary Unit

More detailed, up-to-date information on the SCHUNK product including drawings, CAD data, and operating manuals are available online at: schunk.com/ers

Swiveling time diagram 560 V


Swiveling time

i The diagram shows the shortest possible swiveling times with max. current. The indicated break times have to be strictly observed. Please contact us for assistance with the design of your case of application and optimization of the cycle time.


F x max. 1875 N

F z max. 2500 N

M y max. 75 Nm


Technical data

Description ERS 135-560-40-N-N-I

ID 0310146


Rated/maximum torque [Nm] 2.5/8

Nominal RPM [RPM] 1000

Max. RPM [RPM] 2300

Max. mass moment of inertia [kgm²] 0.07

Repeat accuracy [°] 0.01

Radial/axial runout [mm] 0.03/0.03

Weight [kg] 2.7

Min./max. ambient temperature [°C] 5/55

Protection class IP 40

Dimensions Ø D x Z [mm] 137 x 63


Intermediate circuit voltage [V] 560

Rated/maximum current [A] 1.2/3.8

Encoder system Encoder (incremental)

Output signal Sin/Cos 1Vss


Version with holding brake ERS 135-560-40-B-N-I

ID 0310150

Moment holding brake [Nm] 2.5

i All versions are also available with protection class IP54 upon request.


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Swiveling time



F x max. 3750 N

F z max. 5000 N

M y max. 150 Nm


Technical data

Description ERS 170-560-40-N-N-I ERS 170-560-40-N-D-I

ID 0310178 0310180


Rated/maximum torque [Nm] 5/17 4.7/17

Nominal RPM [RPM] 700 250

Max. RPM [RPM] 1600 250

Max. mass moment of inertia [kgm²] 0.2 0.2


Radial/axial runout [mm] 0.03/0.03 0.05/0.05

Weight [kg] 4.2 6.3



Dimensions Ø D x Z [mm] 170 x 66 170 x 100




Encoder system Encoder (incremental) Encoder (incremental)

Output signal Sin/Cos 1Vss Sin/Cos 1Vss



1

Max. operating pressure [bar] 8



Max. current [A] 2


Version with holding brake ERS 170-560-40-B-N-I ERS 170-560-40-B-D-I

ID 0310182 0310184

Moment holding brake [Nm] 5 5



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More detailed, up-to-date information on the SCHUNK product including drawings, CAD data, and operating manuals are available online at: schunk.com/ers



Swiveling time



F x max. 7500 N

F z max. 10000 N

M y max. 300 Nm


Technical data

Description ERS 210-560-40-N-N-I ERS 210-560-40-N-D-I

ID 0310210 0310212


Rated/maximum torque [Nm] 10/27 9.3/27

Nominal RPM [RPM] 600 250

Max. RPM [RPM] 1000 250

Max. mass moment of inertia [kgm²] 0.6 0.6


Radial/axial runout [mm] 0.04/0.04 0.06/0.06

Weight [kg] 7.4 10.9



Dimensions Ø D x Z [mm] 210 x 77 210 x 111




Encoder system Encoder (incremental) Encoder (incremental)

Output signal Sin/Cos 1Vss Sin/Cos 1Vss



1




Max. current [A] 2


Version with holding brake ERS 210-560-40-B-N-I ERS 210-560-40-B-D-I

ID 0310214 0310216

Moment holding brake [Nm] 10 10



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Notes

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ERM Rotary Modules, electric | Rotary Units | Heavy-duty Rotary Module

Adaptable. Strong. Loadable.

Heavy-duty Rotary Module ERM Electric rotary module for high loads with adaptable servomotor, rotary angles > 360°, center bore, and optional feed-throughs

Field of Application Universal, ultra-flexible rotary module for handling and positioning applications in clean or contaminated environments.

Advantages – Your benefits Modular drive concept for adaption of common servomo-tors for example from Bosch or Siemens

Easy system integration by use of a preferred motor with available fieldbus and safety technology

90° swivel-mounted drive for flexible adaptation to gantries or robots

High torque and precision for the positioning of heavy loads with high precision

Center bore and integrated feed-through for cable and media feed-through

High robustness and large loading area for demanding applications

Sizes Quantity: 1

Weight 15.5 .. 21.5 kg

Torque 75 Nm



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ERM ERM

Functional Description The torque of the motor is transferred from the driving shaft via the two stage hypoid gearing to the output flange. Via the rotary feed-through, compressed air can be transported from the distributor flange to the output

flange. The orientation of the transmission housing can be adjusted in four 90° steps before fastening the module or the attachment.

1 Drive shaft For motor connection

2 Bevel gear Can be attached in various positions. The motor can thereby be swiveled by 90° in each direction.

3 2-step hypoid gear speed For gear reduction of the rotation

4 Output flange For mounting the application to be rotated

5 Integrated air feed-through with mounting holes For hose-free feed-through of compressed air

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Material of the (internal) functional components: Steel

Actuation: Electrically via an adaptable servomotor

Operating principle: Two-stage hypoid gears

Scope of delivery: Centering sleeves for module mounting and mounting on the output flange, O-rings for compressed air connections on the output flange.

Warranty: 24 months

Swiveling time: Are purely the times of the module to rotate from rest position to rest position. Relay switching times or PLC reaction times are not included in the above times and must be taken into consideration when deter-mining cycle times. Load-dependent rest periods may have to be included in the cycle time.


Middle attached load: Intended to represent a typical load. It is defined as the half of the max. possible mass moment of inertia that can be swiveled without restric-tion, bouncing or hitting, with a centric load and a vertical rotating axis.

Motor torque: For all motor moments from above the rated moment to the maximum motor moment, observe the instructions in the respective product documentation.

Application Example Completely electrically actuated axis gantry for loading and unloading pallets with various greatly differing components. 1 Electric universal rotary module ERM 2 Electric long-stroke gripper EGA 3 Linear module Gamma with toothed-

belt drive 4 Linear module Gamma with rack and

pinion drive

175


SCHUNK offers more ... The following components make the product ERM even more productive – the suitable addition for the highest functionality, flexibility, reliability, and controlled production.

Long-stroke gripper Universal gripper Linear module Room gantry

Compensation unit Motor add-on kit


Options and special Information Flexible in motor and controller selection: The electrical control is carried out via an adaptable servo drive using common standard controller like Bosch or Siemens. Easy integration: The easy integration into the control system is ensured by the possibility of attaching a common servomotor. Identical control: The rotary module can directly be controlled like a normal servo axis, and can be interpolated with existing axes. Protection class IP: The specified protection class can only be achieved with the mounted motor. Unique mechatronic modular system: For setting up combined systems, a range of mechatronic products (e.g. gripper and linear units) are available.

176

ERM 160 Rotary Modules, electric | Rotary Units | Heavy-duty Rotary Module

More detailed, up-to-date information on the SCHUNK product including drawings, CAD data, and operating manuals are available online at: schunk.com/erm

Max. admissible inertia J

Inertia

Swiveling time

i The diagrams are valid for 90° and 180° angles of rotation for use with vertical rotary axes and centric loads with horizontal rotary axes and rated motor moment. The swiveling times must be observed, otherwise the life time can decrease. We will be happy to help you design other applications.


F x max. 1500 N

F z max. 3000 N

M y max. 450 Nm

i Moments and forces may occur simultane-ously. Depending on the application higher values can be achieved, therefore please contact us.

Technical data

Description ERM 160-8-CB-090-B

ID 0310550


Peak drive moment [Nm] 2.3

Peak output moment [Nm] 75

Max. drive speed [RPM] 3000

Max. output speed [RPM] 62.5

Max. mass moment of inertia [kgm²] 20


Axial run-out [mm] 0.05

Transmission 48

No. of fluid feed-throughs 8



Weight [kg] 15.5



Diameter of center bore [mm] 22

Dimensions X x Y x Z [mm] 160 x 251.2 x 137.5


Motor version ERM 160-8-CB-090-MSK050B

ID 0310552

Weight [kg] 21.5

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Notes

178

PW V6 Rotary Modules, electric | Pan-tilt Actuators | Pan-tilt Actuator

Bus capable. Precise. Compact.

Pan-tilt Actuator PW V6 S ervo-electric pan-tilt unit with precision gear and integrated electronics

Field of Application A ll-purpose, ultra-flexible pan-tilt actuator for clean and slightly contaminated environments as component of positioning systems for cameras, laser scanner, or as wrist module on robots applicable.

Advantages – Your benefits Two independently moveable axes integrated into a single housing for complete flexibility in the swiveling motion in addition to the compact design

High torque and velocity for rapid acceleration and short cycle times




Sizes Quantity: 2


Torque 12 .. 23 Nm


Swivel angle ±105 .. 120°

179


PW V6 PW V6 PW V6

Functional Description The pan-tilt actuator has two brushless DC servomotors with Harmonic Drive ® precision gear, which can be actuated independently of one another.

PW V6 PW V6 1 Axis 2 F or endless rotations 2 Drive axis 2

Brushless DC servomotor

3 Encoder For position evaluation

4 Drive axis 1 Brushless DC servomotor for maximum torques

5 Axis 1 with integrated brake For rotations up to ±120° and position maintenance at a standstill

6 Control electronics Integrated control and power electronics

180






Warranty: 24 months






Application Example Electric gripper swivel unit for a flexible handling and rotation of workpieces.

1 Servo-electric pan-tilt actuator PW V6

2 Servo-electric 2-finger parallel gripper PG

181


SCHUNK offers more ... The following components make the product PW V6 even more productive – the suitable addition for the highest functionality, flexibility, reliability, and controlled production.

Universal gripper Long-stroke gripper Rotary module Drive

Linear module Connection caps Connecting elements


Options and special Information Electrical control of the PW is carried out by the fully integrated control and power electronics. Hence, the module does not require any additional external control units. There is a varied range of interfaces available, such as PROFIBUS DP or CAN as types of communication. This enables the assembly of industrial bus networks and ensures easy integration into existing control concepts. For transmission of power supply and data communications, we offer various cables. Further PowerCube modules are available for creating combined systems (e.g. gripping/rotary units). Control types: Position control, rotational speed control, power control Monitoring functions: I²t monitoring, current monitoring, power failure detection, contouring error monitoring, software end position monitoring, position monitoring Protection class IP: The indicated protection class can only be achieved in conjunction with a connection cap DMI.

182

PW V6 70 Rotary Modules, electric | Pan-tilt Actuators | Pan-tilt Actuator

More detailed, up-to-date information on the SCHUNK product including drawings, CAD data, and operating manuals are available online at: schunk.com/pw-v6


Inertia

Swiveling time

Torque characteristic

Angular velocity


M y max. 8 Nm

F z max. 80 N

F x1 max. 120 N

F x2 max. 120 N


Technical data

Description PW 070-V6-G

ID 0307330


Max. angle of rotation axis 1/axis 2 [°] ±120/>360

Max. speed of rotation axis 1/axis 2 [RPM] 40/60


Gear ratio axis 1/axis 2 121/101

Rated torque axis 1/axis 2 [Nm] 12/2

Max. torque axis 1/axis 2 [Nm] 24/4


Weight [kg] 1.8


Holding brake version axis 1/axis 2 1/0


Dimensions X x Y x Z [mm] 145 x 70 x 163.8


Nominal voltage [V] 24

Nominal current [A] 4

Max. current [A] 8


Power supply [V] 24


Interface PROFIBUS, CAN, 4/4 digital I/O, RS232



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PW V6 90 Rotary Modules, electric | Pan-tilt Actuators | Pan-tilt Actuator


Inertia

Swiveling time


Angular velocity


M y max. 200 Nm

F z max. 12 N

F x1 max. 250 N

F x2 max. 250 N


Technical data

Description PW 090-V6-G

ID 0307332


Max. angle of rotation axis 1/axis 2 [°] ±105/>360

Max. speed of rotation axis 1/axis 2 [RPM] 25/40

Max. acceleration axis 1/axis 2 [°/s²] 600/960


Rated torque axis 1/axis 2 [Nm] 23/12

Max. torque axis 1/axis 2 [Nm] 46/24


Weight [kg] 3.4


Holding brake version axis 1/axis 2 1/0


Dimensions X x Y x Z [mm] 168.3 x 90 x 186


Nominal voltage [V] 24

Nominal current [A] 4

Max. current [A] 8


Power supply [V] 24


Interface PROFIBUS, CAN, 4/4 digital I/O, RS232

PROFIBUS interface [Mbit/s] 1.5

CAN interface [kBit/s] 1000

Number of digital I/O 4/4/-/-



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PDU 2 Rotary Modules, electric | Drives | Compact Drive

Bus capable. Precise. Robust.

Compact Drive PDU 2 Servo-electric drive with angle of rotation > 360°, precision gear and integrated electronics

Field of Application Servo-driven for linear and rotary axes as well as axis motor for applications in measuring and testing technology.


High torque, velocity, and precision for fast acceleration and short cycle times at a high precision




Service interface: USB host and USB device for comfor-table parameter setting and firmware updates by USB flash drive or PC

Rotary encoding switch and DIP switch for manual fieldbus addressing, baud rate setting and service functions

Digital inputs for easy and integrated query of sensor signals

Sizes Quantity: 3


Torque 4.3 .. 98 Nm


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PDU 2 PDU 2 PDU 2

Functional Description The electric drive has a Harmonic Drive ® precision gear, which is directly driven by a brushless DC servomotor. A conventional motor shaft is used for connection.

PDU 2 PDU 2 1 Control electronics Integrated control and power electronics 2 Encoder

For position evaluation

3 Motor Brushless DC servomotor for maximum torques

4 Harmonic Drive ® gears For different gear ratios and high rigidity

5 Brake For maintaining position on shutdown and power failure

6 Service window With customer interface for service functions, altering bus address, USB connection and LED status display

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Actuation: Servo-electric, via brushless DC servomotor and incremental encoder for controlling position and velocity.



Warranty: 24 months






Application Example Highly flexible handling unit for gripping and transporting various workpieces with random position orientation

1 Universal gripper EGL 2 Servo-electric pan-tilt actuator PW 3 2 servo-electric rotary module PR

4 2 servo-electric drive PDU 5 Linear module Beta with toothed-

belt drive

187


SCHUNK offers more ... The following components make the product PDU 2 even more productive – the suitable addition for the highest functionality, flexibility, reliability, and controlled production.

Linear module Long-stroke gripper Universal gripper Rotation unit

Pan-tilt actuator Connecting elements Connection cable Communication cable


Options and special Information Integrated electronics: The electrical control of the PDU is carried out by the fully integrated control and power electronics. Hence, the module does not require any additional external control units. Easy integration: There is a varied range of interfaces available, such as PROFIBUS DP or CAN as types of communication. This enables the assembly of industrial bus networks and ensures easy integration into existing control concepts. For transmis-sion of power supply and data communications, we offer various cables. Control types: Position control, rotational speed control, power control Monitoring functions: I²t monitoring, current monitoring, power failure detection, contouring error monitoring, software end position monitoring, position monitoring

188

PDU 2 70 Rotary Modules, electric | Drives | Compact Drive

More detailed, up-to-date information on the SCHUNK product including drawings, CAD data, and operating manuals are available online at: schunk.com/pdu-2


Angular velocity

i The values were determined at room temperature after a certain warm-up time.


M y max. 6 Nm

F x max. 50 N

F z max. 0 N


Technical data

Description PDU 2-070-051-PB-I PDU 2-070-101-PB-I PDU 2-070-161-PB-I

ID 0360550 0360570 0360590



Max. torque [Nm] 16.8 39 55.8



Max. RPM [RPM] 78 40 25




Brake Yes Yes Yes

Weight [kg] 1.9 1.9 1.9















CAN version PDU 2-070-051-CN-I PDU 2-070-101-CN-I PDU 2-070-161-CN-I

ID 0360551 0360571 0360591



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Angular velocity



M y max. 9 Nm

F x max. 100 N

F z max. 0 N


Technical data


ID 0360610 0360630 0360650


Nominal torque [Nm] 12.8 32 51.2

Max. torque [Nm] 24 49.6 76.8



Max. RPM [RPM] 78 40 25




Brake Yes Yes Yes

Weight [kg] 3.5 3.5 3.5















CAN version PDU 2-090-051-CN-I PDU 2-090-101-CN-I PDU 2-090-161-CN-I

ID 0360611 0360631 0360651



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More detailed, up-to-date information on the SCHUNK product including drawings, CAD data, and operating manuals are available online at: schunk.com/pdu-2


Angular velocity



M y max. 25 Nm

F x max. 150 N

F z max. 0 N


Technical data


ID 0360670 0360690 0360710



Max. torque [Nm] 62.5 142.5 205

Standstill torque [Nm] 29.6 66.4 108

Nominal RPM [RPM] 22.5 11.5 7

Max. RPM [RPM] 41.5 21 13

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