Loadable. Flexible. Robust. Universal Rotary Unit PR
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1 PR Electrcal Rotary Unts Unversal Rotary Unt Loadable. Flexble. Robust. Unversal Rotary Unt PR Servo-electrc rotary unt wth angle > 360, precson gear and ntegrated electroncs Feld of Applcaton All-purpose, ultra-flexble rotary unt n clean and slghtly polluted envronments as a component of postonng systems or as an axs module of lght whght arms used n felds of ndustry or servce robotcs. Advantages Your beneft Brushless DC servomotor for flexble use by controlled poston, velocty and torque Hgh torque, velocty, and precson for rapd acceleraton and short cycle tmes wth hgh precson Fully ntegrated control and power electroncs for creatng a decentralzed control system Versatle actuaton optons for smple ntegraton nto exstng servo-controlled concepts va Profbus-DP, or CAN-bus Standard connectng elements and ntegrated control concept for extensve combnatorcs wth other PowerCube modules (see explanaton of the PowerCube system) Szes Quantty: 3 Weght kg Torque Nm Repeat accuracy Angle of rotaton >
2 PR Electrcal Rotary Unts Unversal Rotary Unt Functonal Descrpton The rotary unt has a Harmonc Drve precson gear, whch s drectly drven by a brushless DC-servo drve. PR 1 Control electroncs ntegrated control and power electroncs 2 Encoder for poston evaluaton 4 Harmonc Drve gears for hgh gear ratos and rgdty 5 Brake for a holdng functon on shutdown and power falure 3 Brushless DC servomotor for maxmum torques 323
3 PR Electrcal Rotary Unts Unversal Rotary Unt General Notes about the Seres Housng materal: alumnum alloy, coated Actuaton: servo-electrc, va brushless servomotor and ncremental encoder for poston and speed control Operatng Prncple: Harmonc Drve gear drven drectly va brushless DC servomotor Scope of delvery: DVD wth SCHUNK software and assstant for commssonng, ncludes assembly- and operaton manual, declaraton of ncorporaton, functonal module for control va Semens S7-300/400. Warranty: 24 months (detals, general terms and condtons and operaton manuals can be downloaded at www. schunk. com) Swvelng tmes: are purely the tmes of the module to rotate from rest poston to rest poston. Relay swtchng tmes or SPC reacton tmes are not ncluded n the above tmes and must be taken nto consderaton when determnng cycle tmes. Load-dependent rest perods may have to be ncluded n the cycle tme. Repeat accuracy: s defned as the spread of the target poston after 100 consecutve postonng cycles. Mddle attached load: ntended to represent a typcal load. Defned as half of the max. possble mass moment of nerta whch can be swveled wthout mpacts or bouncng, for centrc loads and vertcal rotatonal axes. Nomnal Currents: can be avalable. In case of every current above the nomnal current up to the maxmum current, the nstructons n the ndvdual product documentaton has to be consdered. Applcaton example Double rotary grppng module for loadng and unloadng dfferent senstve components 1 Servo-Electrc 2-Fnger Parallel Grpper PG 2 Servo-Electrc rotary module PR 324
4 PR Electrcal Rotary Unts Unversal Rotary Unt SCHUNK offers more... The followng components make the PR even more productve the perfect complement for hghest functonalty, flexblty and process relablty. Connecton Cap DMI Connecton Cap MMI Power- / and Data Cable Lnear Module Servo-Electrc Drve wth Gear PDU Servo-Electrc Rotary Pan Tlt Actuator PW Servo-Electrc 2-Fnger Parallel Grpper PEH Connectng Element PAM Further nformaton regardng the products can be found on the followng product pages or at www. schunk. com. Please contact us for further nformaton: SCHUNK techncal hotlne Optons and specal Informaton Integrated electroncs: The electrcal control of the PR 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 Profbus-DP or CAN bus as methods of communcaton. Ths enables the assembly of ndustral bus networks and ensures easy ntegraton nto exstng control systems. Technologcal Functons: Pseudo absolute encoder functon, freely programmable postons and drectly controllable va dgtal I/O or feld bus wth the SCHUNK Moton Protocol (SMP) Montorng functons: I²t montorng, current montorng, power falure detecton, contourng error montorng, software end poston montorng, poston montorng IP class: The specfed protecton class can only be acheved n conjuncton wth a DMI connecton cap. 325
5 PR 70 Electrcal Rotary Unts Unversal Rotary Unt Swvel tme dagram Forces and Moments Mass moment of nerta Swvel tme The dagram s only vald for applcatons wth vertcal swvel axes or horzontal swvel axes wth even mass dstrbuton and wthout the effects of gravty. M y max. 40 Nm F x max. 350 N Moments and forces may occur smultaneously. F z max. 345 N Techncal data Descrpton Unt PR B PR B PR B ID Mechancal operatng data Rated torque [Nm] Peak torque [Nm] max. rotatonal speed [1/mn] max. permssble mass moment of nerta [kgm²] Repeat accuracy [ ] Transmsson 51:1 101:1 161:1 General operatng data Weght [kg] mn. / max. ambent temperature [ C] 5/55 5/55 5/55 IP class Electrcal operatng data Nomnal voltage [V] Nomnal current [A] max. power supply [A] Control electroncs Control electroncs ntegrated ntegrated ntegrated Power supply [V] Encoder system Encoder (ncremental) Encoder (ncremental) Encoder (ncremental) Interface Profbus, CAN bus, 4/4 dgtal I/O, RS232 Profbus, CAN bus, 4/4 dgtal I/O, RS232 Profbus, CAN bus, 4/4 dgtal I/O, RS232 The top torques serve as short-term drve reserves when acceleratng and delayng. 326
6 PR 70 Electrcal Rotary Unts Unversal Rotary Unt Man vew The drawng shows the basc desgn of the module wthout the connecton cap wthout dmensonal consderaton of the optons descrbed below. 1 Rotary actuator connecton 2 Attachment connecton CN On both connecton faces ET Electroncs connecton GL Fttng for centerng sleeve HT Depth of the centerng sleeve hole n the matng part 327
7 PR 70 Electrcal Rotary Unts Unversal Rotary Unt Connectng element straght PAM 100 straght Straght standard element for connecton of PowerCube modules wth repeat accuracy Descrpton ID Dmensons Connectng element PAM x70/35/70x70 mm PAM x70/70/70x70 mm GL Fttng for centerng sleeve Sutable for PowerCube unt sze 70 Descrpton ID Dmensons Connectng element PAM x70/35/70x70 mm Specal lengths on request PAM straght Connectng element concal GL Fttng for centerng sleeve Sutable for PowerCube unt sze 70 Descrpton ID Dmensons Connectng element PAM x70/70/70x70 mm Concal standard element for connecton of PowerCube modules wth repeat accuracy Descrpton ID Connectng element PAM PAM Specal lengths on request 328
8 PR 70 Electrcal Rotary Unts Unversal Rotary Unt PAM 110 concal PAM concal GL Fttng for centerng sleeve Sutable for PowerCube unt szes 70/90 Descrpton ID Connectng element PAM GL Fttng for centerng sleeve Sutable for PowerCube unt szes 70/90 Descrpton ID Connectng element PAM Connectng element angle PAM 120 angle Angular standard element for connecton of PowerCube modules wth repeat accuracy Descrpton ID Connectng element PAM Specal lengths on request GL Fttng for centerng sleeve Sutable for PowerCube unt sze 70 Descrpton ID Connectng element PAM
9 PR 70 Electrcal Rotary Unts Unversal Rotary Unt Connecton cap DMI Connecton cap MMI GK M16x1.5 for cable gude penetratng screw connecton Descrpton ID Connecton caps DMI 070-V05-B IT Connecton power supply (logc / load) IK Connecton feldbus M12 IM Parametrzed nterface RS232 Descrpton ID Connecton caps MMI 070-V05-E-CN MMI 070-V05-D-CN MMI 070-V05-E-PB MMI 070-V05-D-PB IN Connecton power supply servce box (SSB) IP Connecton external end swtch Power cable for SCHUNK MMI CAN-Bus cable 6 Connecton module sde AO Socket BK Connecton controller sde 6 Connecton module sde AO Socket BK Connecton controller sde Descrpton ID L 2 D 1 Power cable for SCHUNK MMI KA GGN2304-LK H m M23 KA GGN2304-LK H m M23 KA GGN2304-LK H m M23 KA GGN2304-LK H m M23 KA GLN2304-LK H m M23 KA GLN2304-LK H m M23 KA GLN2304-LK H m M23 KA GLN2304-LK H m M23 Descrpton ID L 2 D 1 CAN-bus cable KA GGN1204-CN A m M12 KA GGN1204-CN A m M12 KA GGN1204-CN A m M12 KA GGN1204-CN A m M12 Please observe the bendng radus (7.5 tmes the cable dameter). Please observe the bendng radus (7.5 tmes the cable dameter). 330
10 PR 70 Electrcal Rotary Unts Unversal Rotary Unt Profbus cable Termnators 6 Connecton module sde AO Socket BK Connecton controller sde Descrpton ID L 2 D 1 Profbus cable KA GGN1204-PB A m M12 KA GGN1204-PB A m M12 KA GGN1204-PB A m M12 KA GGN1204-PB A m M12 6 Connecton module sde AO Socket Descrpton ID D 1 Termnators ST SG1204-CN-A-A M12 ST SG1204-PB-A-A M12 A sutable termnator must be mounted on the last module n the CAN or Profbus lne. Please observe the bendng radus (7.5 tmes the cable dameter). 331
11 PR 90 Electrcal Rotary Unts Unversal Rotary Unt Swvel tme dagram Forces and Moments Mass moment of nerta Swvel tme The dagram s only vald for applcatons wth vertcal swvel axes or horzontal swvel axes wth even mass dstrbuton and wthout the effects of gravty. M y max. 80 Nm F x max. 800 N Moments and forces may occur smultaneously. F z max. 590 N Techncal data Descrpton Unt PR B PR B PR B ID Mechancal operatng data Rated torque [Nm] Peak torque [Nm] max. rotatonal speed [1/mn] max. permssble mass moment of nerta [kgm²] Repeat accuracy [ ] Transmsson 51:1 101:1 161:1 General operatng data Weght [kg] mn. / max. ambent temperature [ C] 5/55 5/55 5/55 IP class Electrcal operatng data Nomnal voltage [V] Nomnal current [A] max. power supply [A] Control electroncs Control electroncs ntegrated ntegrated ntegrated Power supply [V] Encoder system Encoder (ncremental) Encoder (ncremental) Encoder (ncremental) Interface Profbus, CAN bus, 4/4 dgtal I/O, RS232 Profbus, CAN bus, 4/4 dgtal I/O, RS232 Profbus, CAN bus, 4/4 dgtal I/O, RS232 The top torques serve as short-term drve reserves when acceleratng and delayng. 332
12 PR 90 Electrcal Rotary Unts Unversal Rotary Unt Man vew The drawng shows the basc desgn of the module wthout the connecton cap wthout dmensonal consderaton of the optons descrbed below. 1 Rotary actuator connecton 2 Attachment connecton CN On both connecton faces ET Electroncs connecton GL Fttng for centerng sleeve HT Depth of the centerng sleeve hole n the matng part 333
13 PR 90 Electrcal Rotary Unts Unversal Rotary Unt Connectng element straght PAM 100 straght Straght standard element for connecton of PowerCube modules wth repeat accuracy Descrpton ID Dmensons Connectng element PAM x90/45/90x90 mm PAM x90/90/90x90 mm GL Fttng for centerng sleeve Sutable for PowerCube unt sze 90 Descrpton ID Dmensons Connectng element PAM x90/45/90x90 mm Specal lengths on request PAM straght Connectng element concal GL Fttng for centerng sleeve Sutable for PowerCube unt sze 90 Descrpton ID Dmensons Connectng element PAM x90/90/90x90 mm Concal standard element for connecton of PowerCube modules wth repeat accuracy Descrpton ID Connectng element PAM PAM PAM PAM Specal lengths on request 334
14 PR 90 Electrcal Rotary Unts Unversal Rotary Unt PAM 110 concal PAM 111 concal GL Fttng for centerng sleeve Sutable for PowerCube unt szes 70/90 Descrpton ID Connectng element PAM GL Fttng for centerng sleeve Sutable for PowerCube unt szes 70/90 Descrpton ID Connectng element PAM PAM concal PAM concal GL Fttng for centerng sleeve Sutable for PowerCube unt szes 90/110 Descrpton ID Connectng element PAM GL Fttng for centerng sleeve Sutable for PowerCube unt szes 90/110 Descrpton ID Connectng element PAM
15 PR 90 Electrcal Rotary Unts Unversal Rotary Unt Connectng element angle PAM Wnkel Angular standard element for connecton of PowerCube modules wth repeat accuracy Descrpton ID Connectng element PAM Specal lengths on request GL Fttng for centerng sleeve Sutable for PowerCube unt sze 90 Descrpton ID Connectng element PAM Connecton cap DMI Connecton cap MMI GK M16x1.5 for cable gude penetratng screw connecton Descrpton ID Connecton caps DMI 090-V05-B IT Connecton power supply (logc / load) IK Connecton feldbus M12 IM Parametrzed nterface RS232 Descrpton ID Connecton caps MMI 090-V05-D-CN MMI 090-V05-D-PB MMI 090-V05-E-CN MMI 090-V05-E-PB IN Connecton power supply servce box (SSB) IP Connecton external end swtch 336
16 PR 90 Electrcal Rotary Unts Unversal Rotary Unt Power cable for SCHUNK MMI CAN-Bus cable 6 Connecton module sde AO Socket BK Connecton controller sde 6 Connecton module sde AO Socket BK Connecton controller sde Descrpton ID L 2 D 1 Power cable for SCHUNK MMI KA GGN2304-LK H m M23 KA GGN2304-LK H m M23 KA GGN2304-LK H m M23 KA GGN2304-LK H m M23 KA GLN2304-LK H m M23 KA GLN2304-LK H m M23 KA GLN2304-LK H m M23 KA GLN2304-LK H m M23 Descrpton ID L 2 D 1 CAN-bus cable KA GGN1204-CN A m M12 KA GGN1204-CN A m M12 KA GGN1204-CN A m M12 KA GGN1204-CN A m M12 Please observe the bendng radus (7.5 tmes the cable dameter). Please observe the bendng radus (7.5 tmes the cable dameter). Profbus cable Termnators 6 Connecton module sde AO Socket BK Connecton controller sde Descrpton ID L 2 D 1 Profbus cable KA GGN1204-PB A m M12 KA GGN1204-PB A m M12 KA GGN1204-PB A m M12 KA GGN1204-PB A m M12 6 Connecton module sde AO Socket Descrpton ID D 1 Termnators ST SG1204-CN-A-A M12 ST SG1204-PB-A-A M12 A sutable termnator must be mounted on the last module n the CAN or Profbus lne. Please observe the bendng radus (7.5 tmes the cable dameter). 337
17 PR 110 Electrcal Rotary Unts Unversal Rotary Unt Swvel tme dagram Forces and Moments Mass moment of nerta Swvel tme The dagram s only vald for applcatons wth vertcal swvel axes or horzontal swvel axes wth even mass dstrbuton and wthout the effects of gravty. M y max. 120 Nm F x max N Moments and forces may occur smultaneously. F z max. 895 N Techncal data Descrpton Unt PR B PR B PR B ID Mechancal operatng data Rated torque [Nm] Peak torque [Nm] max. rotatonal speed [1/mn] Max. permssble mass moment of nerta [kgm²] Repeat accuracy [ ] Transmsson 51:1 101:1 161:1 General operatng data Weght [kg] mn. / max. ambent temperature [ C] 5/55 5/55 5/55 IP class Electrcal operatng data Nomnal voltage [V] Nomnal current [A] max. power supply [A] Control electroncs Control electroncs ntegrated ntegrated ntegrated Power supply [V] Encoder system Encoder (ncremental) Encoder (ncremental) Encoder (ncremental) Interface Profbus, CAN bus, 4/4 dgtal I/O, RS232 Profbus, CAN bus, 4/4 dgtal I/O, RS232 Profbus, CAN bus, 4/4 dgtal I/O, RS232 The top torques serve as short-term drve reserves when acceleratng and delayng. 338
18 PR 110 Electrcal Rotary Unts Unversal Rotary Unt Man vew The drawng shows the basc desgn of the module wthout the connecton cap wthout dmensonal consderaton of the optons descrbed below. 1 Rotary actuator connecton 2 Attachment connecton CN On both connecton faces ET Electroncs connecton GL Fttng for centerng sleeve HT Depth of the centerng sleeve hole n the matng part 339
19 PR 110 Electrcal Rotary Unts Unversal Rotary Unt Connectng element straght PAM 104 straght Straght standard element for connecton of PowerCube modules wth repeat accuracy Descrpton ID Dmensons Connectng element PAM x110/55/110x110 mm PAM x110/110/110x110 mm GL Fttng for centerng sleeve Sutable for PowerCube unt sze 110 Descrpton ID Dmensons Connectng element PAM x110/55/110x110 mm Specal lengths on request PAM 105 straght Connectng element concal GL Fttng for centerng sleeve Sutable for PowerCube unt sze 110 Descrpton ID Dmensons Connectng element PAM x110/110/110x110 mm Concal standard element for connecton of PowerCube modules wth repeat accuracy Descrpton ID Connectng element PAM PAM Specal lengths on request 340
20 PR 110 Electrcal Rotary Unts Unversal Rotary Unt PAM 112 concal PAM 113 concal GL Fttng for centerng sleeve Sutable for PowerCube unt szes 90/110 Descrpton ID Connectng element PAM GL Fttng for centerng sleeve Sutable for PowerCube unt szes 90/110 Descrpton ID Connectng element PAM Specal lengths on request Specal lengths on request Connectng element angle PAM 122 angle Angular standard element for connecton of PowerCube modules wth repeat accuracy Descrpton ID Connectng element PAM Specal lengths on request GL Fttng for centerng sleeve Sutable for PowerCube unt sze 110 Descrpton ID Connectng element PAM
21 PR 110 Electrcal Rotary Unts Unversal Rotary Unt Connecton cap DMI Connecton cap MMI GK M16x1.5 for cable gude penetratng screw connecton Descrpton ID Connecton caps DMI 100-V05-B IT Connecton power supply (logc / load) IK Connecton feldbus M12 IM Parametrzed nterface RS232 Descrpton ID Connecton caps MMI 110-V05-E-CN MMI 110-V05-D-CN MMI 110-V05-E-PB MMI 110-V05-D-PB IN Connecton power supply servce box (SSB) IP Connecton external end swtch Power cable for SCHUNK MMI CAN-Bus cable 6 Connecton module sde AO Socket BK Connecton controller sde 6 Connecton module sde AO Socket BK Connecton controller sde Descrpton ID L 2 D 1 Power cable for SCHUNK MMI KA GGN2304-LK H m M23 KA GGN2304-LK H m M23 KA GGN2304-LK H m M23 KA GGN2304-LK H m M23 KA GLN2304-LK H m M23 KA GLN2304-LK H m M23 KA GLN2304-LK H m M23 KA GLN2304-LK H m M23 Descrpton ID L 2 D 1 CAN-bus cable KA GGN1204-CN A m M12 KA GGN1204-CN A m M12 KA GGN1204-CN A m M12 KA GGN1204-CN A m M12 Please observe the bendng radus (7.5 tmes the cable dameter). Please observe the bendng radus (7.5 tmes the cable dameter). 342
22 PR 110 Electrcal Rotary Unts Unversal Rotary Unt Profbus cable Termnators 6 Connecton module sde AO Socket BK Connecton controller sde Descrpton ID L 2 D 1 Profbus cable KA GGN1204-PB A m M12 KA GGN1204-PB A m M12 KA GGN1204-PB A m M12 KA GGN1204-PB A m M12 6 Connecton module sde AO Socket Descrpton ID Termnators ST SG1204-CN-A-A ST SG1204-PB-A-A A sutable termnator must be mounted on the last module n the CAN or Profbus lne. Please observe the bendng radus (7.5 tmes the cable dameter). 343
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