Manual tool change system HWS

Description
The ready for series production version of the anthropomorphic SCHUNK 5-finger hand grips nearly as perfectly as the human hand. Due to the moving parts with a total of nine drives, various gripping operations can be executed with high sensitivity. Elastic gripping surfaces ensure a reliable grip on objects. The electronics are completely integrated in the wrist.

Field of application
In addition to new dimensions in gripping and manipulation tasks, SCHUNK is defining the possibility of human / robot communication by gestures with the 5-finger hand.

Advantages - Your benefits
- Suited for mobile application fields by low energy consumption at 24 V DC
- Extremely compact design due to integration of the complete control, regulator and power electronics in wrist
- Defined interfaces for easy connection with market-standard industrial and lightweight robots"

Description
Rigid 6-axis force/torque sensor for precision measuring in all six degrees of freedom

Field of application
Universally applicable in robotic applications such as haptics, medicine, grinding, testing, inserting, and research and development

Advantages - Your benefits
- Many sizes with different measuring ranges
- The sensor measures in all 6 degrees of freedom forces as well as moments
- Rotation and translation of the coordinates system in all three directions in space
- Integrated temperature compensation to ensure the defined measuring accuracy
- Easy integration into the process due to easy interface compatibility
- Robust design due to a higher overload range for a long service life
- IP protection - IP 60, 65, 68 available as an option

Description
Compensation unit with X-Y lateral compliance and integrated spring return

Field of application
Palletizing, joining, and assembly of workpieces

Advantages – Your benefits
Spring reset in three different spring strengths.
for a defined, centric position at a repeat accuracy of 0.02 mm
Direct assembly of grippers
no need for additional adapter plates
Cross roller guides
for smooth compensation at low compensation forces
Adjustable compensation stroke
for minimizing interfering contours

Description
Compensation unit compensating in XY- and Z-direction

Field of application
Palletizing, joining, and assembly of workpieces

Advantages – Your benefits
ISO mounting pattern
for easy assembly to most types of robots without needing additional adapter plates
Three compensation directions in one unit
compact design for minimum installation height
Centrical locking
for fixing the unit rigidly in a defined, centric position
Pneumatic position storage
for eccentric locking in a deflected position

Description
Compensation unit with rotation and angle compensation for adaptation of end effector to the position of the component

Field of application
Best suited for use in assembly, loading and unloading or bin picking applications

Advantages – Your benefits
Deflection both while in rotation and at an angle
compensate for inaccuracies in the position of the workpiece and saves time, cost and effort by simplifying robot programming
Centric reset
allows components to be placed in a defined position
Spring-supported reset of the unit
can be adjusted via compressed air for optimum deflection
ISO mounting pattern
equipped with ISO standard both robot-side and tool-side A direct screw connection to conventional robot types is possible without an additional adapter plate
Monitoring of locking
increases the process reliability and simplifies commissioning

Options and special information
Optional protective boot
A protective cover is available for the compensation unit. The protective cover can be ordered and retrofitted.

Description
Collision and overload protection with automatic reset for protecting robots and handling units against damage resulting from collisions or overload conditions.

Field of application
Standard solution for all robot applications whereby the robot, the tool or the workpiece are to be protected against greater damages in case of a collision.

Advantages - Your benefits
- Automatic reset for faster production restart after a collision
- Triggering force and torque can be adjusted via the operating pressure for optimal protection of your robots and components
- Integrated monitoring for signal transmission in case of collision, whereby the robot can be stopped
- ISO adapter plates as an option for easy assembly to most of robot types without any manufacturing costs/ work
- On option also with integrated springs for optimal monitoring of the robot and the components at low process forces and for sensitive applications
- Mechanical flexibility in the event of collisions permits a delay-free reaction to any collisions which occur and overload

Description
Compact manual change system with integrated air feed-through for the most important SCHUNK gripping and compensating modules.

Field of application
Ideally suitable for the use in laboratory technology and assembly automation.

Advantages - Your benefits
- High productivity through fast manual gripper change, especially with small and medium-sized lot sizes
- Flat and weight-optimized through direct assembly of the gripper onto the change system without adapter plate
- Series with five unit sizes for optimal size selection and a broad application range
- Integrated pneumatic feed-through for secure energy supply of the gripping modules
- ISO flange pattern for easy assembly to most types of robots without needing additional adapter plates

Description
Compensation unit for applications in assembly, loading, and unloading of machines and workpiece carriers. The use of AGE-XY makes it possible to securely grip and transfer workpieces despite position or angular offsets.

Field of application
Palletizing, joining, and assembly of workpieces

Advantages - Your benefits
- ISO flange pattern for easy assembly to most types of robots without needing additional adapter plates
- Robust sliding guide for high moment load at minimum space
- Centrical locking for centering the unit in a defined position
- Pneumatic position storage for eccentric locking in a deflected position

Description
Compensation unit compensating in Z-direction

Field of application
Palletizing, joining, and assembly of workpieces

Advantages - Your benefits
- ISO flange pattern for easy assembly to most types of robots without needing additional adapter plates
- Locking for switching the unit rigidly in a defined, extended or retracted position
- Compact design for minimum installation height

Description
For feeding through electric signals and pneumatics for use on robots even when they are endlessly rotating

Field of application
Robot applications and rotary indexing table with unlimited rotational movement

Advantages – Your benefits
Combined air and electric feed-through
for extensive supply to your gripper system/tool
ISO mounting pattern
for easy assembly to most types of robots without needing additional adapter plates
Complete series of 12 sizes
for best selection of size
Electrical plug
for easy change in case of cable break at the robot arm or gripper
Shaft made of steel
adapted performance for modern robots
Three versions in one unit
Transmission of pneumatic and electrical signals individually or in combination
Newly developed, smooth running and particularly long lasting seals
ensure a low starting and continuous torque, so that smaller and more economical drives can be used and that particularly small rotary movements are possible.

Options and special information
Version with pneumatic and electrical feed-throughs
2 to 4 pneumatic feed throughs for up to 10 bar and 4 to 10 electrical feed-throughs for 1 A/60 V signals
Version with pneumatic feed-throughs
2 to 4 pneumatic feed-throughs for up to 10 bar
Version with electrical feed-throughs
4 to 10 electrical feed-throughs for 1 A/60 V signals
Suitable for compressed air applications
Please contact us for further information.

Description
For feeding through electric signals and pneumatics for use on robots even when they are endlessly rotating.

Field of application
for the use on rotary indexing tables and motor-driven applications

Advantages – Your benefits
Combined air and electric feed-through
for extensive supply to your gripper system/tool
Standardized shaft end
for easy gear assembly
Revolutions up to 500 RPM
ensures a reliable supply of pneumatic and electrical power for your gripping system, even with fast rotations of up to 500 RPM
Center bore available
for simple feeding through of cables

Description
Flexible deburring spindle for use in robotic applications

Field of application
Standard solution for flexible and robot-guided deburring of all sorts of workpieces

Advantages - Your benefits
- Flexible high-frequency spindle for maximum flexibility when deburring
- Pneumatically adjustable rigidity of the cutting spindle via compressed air for clean chamfer edges in every installation position
- High speeds for high feed rates
- Flexible use on the robot arm or as a stationary unit

Description
Electric, 2-finger, parallel gripper swivel module with smoothly running base jaws guidance on roller bearings

Field of application
Gripping and moving of small to medium-sized workpieces with flexible force and high speed in clean environments, such as assembly, testing, laboratory and pharmaceutical industry

Advantages – Your benefits
Control via digital I/O
for easy commissioning and rapid integration into existing systems
Almost no wear parts
for high machine uptime and low operating costs
Small required space
as the rotary drive and gripper are merged in one compact module
Two to four stage adjustable gripping force
for simple adaption to sensitive workpieces
Four stage adjustable rotational speed
for high flexibility in cycle times
Very high maximum cycles per minute
for highest productivity
Backlash-free, pre-loaded cross roller guide
for precise gripping with nearly constant force for all permissible finger lengths
Standardized mounting bores
for numerous combinations with other components from the modular system

Options and special information
Manually adjustable gripping force
With an integrated rotary switch, the gripping force can be adjusted in two stages for the EGS 25 – 100% and 50%, and in four stages for EGS 40 – 100%, 75%, 50%, and 25%.
Manually adjustable rotational speed
With an integrated rotary switch, the rotational speed can be adjusted in four stages – 100%, 75%, 50%, and 25%.
Optional status monitoring via external sensor system
The status of the gripping and swiveling movements can be monitored by external senors.
KA connection cable
Connection cables with an angled or a straight female connector can be ordered in various lengths to connect the module with the power supply and higher-level control system.

Description
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 repeatability, rotary speed, acceleration and tool life.

Advantages – Your benefits
With absolute position measurement 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 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

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 connections 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. See the accessory section of the catalog chapter for matching connecting cables. Customized lengths or cable extensions are available on request.

Description
Electric tool changing system with patented locking system

Field of application
For universal use in applications where no pneumatic power supply is available

Advantages – Your benefits
Control via digital I/O
for easy commissioning and rapid integration into existing systems
Patented fail-safe locking mechanism
for secure connection between the master and adapter
All functional components made from hardened steel
for high mechanical resilience of the changing system
Wide range of electric, pneumatic, and fluid modules
for universal energy transmission possibilities
Adapter side coding
possible via electric modules
Standardized, suitable storage racks
for easy storage of the adapter sides

Options and special information
No-Touch-Locking™
Locking without touching. Ensures that the EWS is securely locked even when the EWK and EWA do not touch.
Patented fail-safe locking mechanism
Due to the self-retention and the outside clamping locking, the permissible moment capacity increases. Steel parts made of low corrosion Rc 58.

Description
Rigid 6-axis force/torque sensor for precision measuring in all six degrees of freedom

Field of application
Universally applicable in robotic applications such as haptics, medicine, grinding, testing, inserting, and research and development

Advantages – Your benefits
Compact design
due to space-saving set-up with integrated electronics
Two calibrations are available
whereby two measurement ranges can be controlled via web interface
Plug & Work
directly compatible for KUKA and Universal Robots via software module
Cost saving despite high precision
due to optimized manufacturing
Robust design
ensures due to a high overload range with protection against damage even with short-term overload
Version with LED display
for status display on the sensor without evaluation via the controller

Options and special information
6-axis force/torque sensor
Strain gauges (DMS) measure the strain applied in all six degrees of freedom (Fx, Fy, Fz, Mx, My and Mz). The signals from the DMS are directly processed in the sensor, and are made available as forces and moments via various communication protocols.
Sensor cable
The sensor cable connects the sensor to the control line via a 6-pin M8 connector through an 8-pin M12 connector. The power supply and communication line are integrated into the sensor cable and shielded. The highly flexible sensor line protects the sensor signals against electric fields and mechanical loads.
Control line
The control line is a Y-distribution cable and is connected to the sensor line via an M12 socket. It supplies the sensor with voltage via a 3-pin open wire strand and allows separate communication with the sensor via EtherNet or EtherCAT via an RJ-45 connector, depending on the version.

Description
Universal gripper PGN-plus/PZN-plus with GSW-B shank interface and compensation unit AGE

Field of application
Unit for fully automated loading and unloading of machining centres

Advantages – Your benefits
Price-attractive module
from a universal gripper PGN-plus/PZN-plus and a shank interface
Fast, automated gripper changeover
from the gripper to the storage rack
Fully automated workpiece changeover
without robot or gantry system
Three compensation directions in one unit
compact design for minimum installation height
Robust sliding guide
for high moment load at minimum space
Compensation of workpiece-related tolerances and position inaccuracies
reduced risk of jamming, necessary assembly forces are reduced and wear of the workpiece and handling device is minimized

Options and special information

Please note that use under extreme conditions (e.g. with coolant, casting or abrasive dust) will considerably reduce the service life of this product.

Further shaft diameters on request.

Please note that the connection A of IS version grippers or grippers of AS version should not be sealed air-tight.
Precondition
If the spindles do not rotate, then the machines have to provide compressed air or coolant.

Description
2-finger parallel gripper with center bore

Field of application
Gripping and moving of small to medium-sized workpieces in low contaminated environments, equipped with end-to-end center bore for workpiece feeding, sensor systems or actuators

Advantages – Your benefits
Low weight
for weight-optimized handling solutions
Long stroke
in proportion to the size
Base jaws guided on roller bearings
for precise gripping
Center through-hole
for workpiece feeding, sensor systems or actuators
Air supply via hose-free direct connection or screw connections
for flexible pressure supply in all automated systems

Options and special information
Available with reinforced jaw guidances on request. Gripping force can be maintained by the SDV-P pressure maintenance valve.

Description
A magnetic switch is used for monitoring the status of automation components.They detect the magnets fixed inside the component without contact. In addition to further process data, the sensor outputs the process of the magnetic field via the IO-Link interface.

Field of application
Used for monitoring SCHUNK grippers. The magnetic switch with IO-Link interface from SCHUNK detects metals without contact and wear, and is resistant to vibration, dust, and humidity. The magnetic switch is installed in a C-slot and therefore does not produce any additional interfering contour.

Advantages – Your benefits
Control via IO-Link
for the evaluation of data such as temperature, evaluation quality or the sensor identification
Integrated electronics
leads to a compact design and enables the use of cables with standard plug connectors
Suitable for narrow installation spaces
due to teaching via IO-Link interface
Version with LED display
is used to indicate the status of the IO-Link connection
C-slot sensor
for space-saving, easy, and fast assembly on the product

Options and special information
Sources of interference
Sensors can be influenced by other magnetic fields in the immediate vicinity. Disturbing magnetic fields can be generated by motors, electric welders, permanent magnets or magnetized material (so-called soft magnets) such as hexagon socket wrenches, chips, etc.
High protection class
IP67 when plugged in, for use in clean or dusty environments or in case of contact with water. Operability in case of contact with other media (coolant, acids, bases, etc.) is often given, however cannot be guaranteed by SCHUNK.

Description
Servo-electric 2-finger parallel gripper with long jaw stroke for large parts and diverse parts spectrum

Field of application
Versatile, highly flexible gripper for large diversity of parts in clean to slightly contaminated work environment

Advantages – Your benefits
Gripping force control in a range of 100 N – 1,800 N
for powerful gripping of a wide variety of workpieces
Large stroke of 200 mm
for flexible workpiece handling
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
Robust sliding guide
for the precise handling of different workpieces
High maximum moments possible
suitable for using long gripper fingers
Mounting from two sides in three screw directions
for universal and flexible gripper assembly

Options and special information
Integrated electronics
The electrical control of the gripper 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 simple integration into existing control concepts.
Connection caps DMI and MMI
The DMI or MMI connection caps are available for connection of the gripper to the voltage supply or superordinate control unit. They are not included in the scope of delivery and have to be ordered separately.

Description
Universal electric 2-finger parallel gripper with permanent lubrication, high gripping force, and a high maximum moment due to the use of a multi-tooth guidance.

Field of application
Optimal standard solution for many fields of application. For universal use in clean to slightly dirty environments.

Advantages – Your benefits
Robust multi-tooth guidance
for precise handling
High maximum moments possible
suitable for using long gripper fingers
Lubricant pockets in the mult-tooth guidance
ensure process reliability and extended maintenance intervals
Brushless DC servomotor
for almost wear-free use and a long service life
Control via digital I/O
for easy commissioning and rapid integration into existing systems
Four-step adjustable gripping force
for simple adaption to sensitive workpieces
Mounting from two sides in three screw directions
for universal and flexible gripper assembly
Integrated sensor system and comprehensive sensor accessory program
for versatile querying possibilities and stroke position monitoring
Control via IO-Link
enables the prepositioning of the gripper finger and the evaluation of the gripper condition

Options and special information
Manually adjustable gripping force
With an integrated rotary switch, the gripping force can be adjusted in four stages – 100%, 75%, 50%, and 25%.
Integrated sensor system
Two end positions can be monitored via integrated inductive proximity switches.
Optional status monitoring via external sensor system
The status of the gripper can also be monitored by optional external sensors.
KA connection cable
Connection cables with an angled or a straight female connector can be ordered to connect the gripper with the power supply and higher-level control system.
IO-Link
Version for positioning the gripper fingers and positional feedback over the entire stroke.
digital I/O
Version for opening/closing of gripper with integrated proximity switches for detecting the two positions.
Dust-tight version SD
absolutely dust-tight, increased degree of protection against ingress of materials.

Description
Universal 2-Finger Parallel Gripper with permanent lubrication, large gripping force and high maximum moments thanks to multi-tooth guidance.

Field of application
Pneumatic universal gripper for handling of workpieces in universal applications. For universal use in clean to slightly dirty environments. Special versions available for dirty environments.

Advantages - Your benefits
- Robust multi-tooth guidance for precise handling
- High maximum moments possible suitable for using long gripper fingers
- Lubricant pockets in the mult-tooth guidance ensure process reliability and extended maintenance intervals
- Maximum piston surface area for maximum gripping forces
- Mounting from two sides in three screw directions for universal and flexible gripper assembly
- Air supply via hose-free direct connection or screw connections for universal and flexible gripper assembly
- Comprehensive sensor accessory program for versatile querying possibilities and stroke position monitoring
- Manifold options for special optimisation for your specific application (dust-tight, high-temperature, corrosion-protected, etc.)"

Description
Servo-electric rotary unit with angle of rotation > 360°, precision gear and integrated electronics

Field of application
Versatile, ultra-flexible rotary unit 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 comfortable 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

Options and special information
Integrated electronics
The electrical 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 simple integration into existing control concepts.
Monitoring functions
I²t monitoring, current monitoring, power failure detection, contouring error monitoring, software end position monitoring, position monitoring

Description
Servo-electric drive with angle of rotation > 360° 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

Advantages – Your benefits
Brushless DC servomotor
for flexible use by controlled position, velocity, and torque
High torque and velocity
for rapid acceleration and short cycle times
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 comfortable 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

Options and special information
Integrated electronics
The electrical control of the PSM 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 transmission 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