ROTARY ACTUATOR
Contents
1. 41 44 7102279 info ch schunk com www ch schunk com C TURKEY SCHUNK Intec Baglama Sistemleri ve Otomasyon San ve Tic Ltd Sti Kugukyali Is Merkezi Girne Mahallesi Irmak Sodak A Blok No 9 34852 Maltepe Istanbul Tel 90 216 366 2111 Fax 90 216 366 2277 info tr schunk com www tr schunk com USA SCHUNK Intec Inc 211 Kitty Hawk Drive Morrisville NC 27560 Tel 1 919 572 2705 Fax 1 919 572 2818 info us schunk com www us schunk com Date printed 23 02 20112. Rotary actuator type RM SCHUNK Ze 4 5 1 3 Safety Notes Responsibility for the compatibility of pneumatic equipment lies with the person who designs the pneumatic system or takes the decision on its specifications Since the products specified herein can be used under various operating conditions their compatibility with the appropriate pneumatic system must be based on specifications and or tests in order to conform to their requirements Machines and equipment operated by pneumatic means may only be used by trained personnel Compressed air can be hazardous if an operator is not familiar with its use The assembly handling or repair of pneumatic systems is to be undertaken by trained and experienced personnel Do not carry out maintenance work on machines and equipment and do not at amp to remove components until it has been confirmed that it is safe to do so Inspection and maintenance of machines and equipment may only be carried out after it has been confirmed that the devices that must be swit ched off are in a securely deactivated condition If machine parts must be removed carry out safety precautions as mentioned above Deactivate the compressed air supply to this machine and release any remaining compressed air from the system Before machines and equipment are switched on again take measures to ensure that cylinder rods etc are not pushed outwards Allow compressed air to enter the system slowly so that counterpr
3. 2 2011 Assembly and Operation Manual er Rotary actuator type RM SCHUNK 10 Maintenance and Care A Under no circumstances may rotary actuators be operated with oiled air if they are subsequently to be operated with oil free air The integral cylinders are lubricated for life and do not require relubrication Operati on with oiled or oil free compressed air is permissible without restrictions The bearing arrangements of the turntable and of the toothed rack pinion unit are already lubricated It is not therefore necessary to lubricate these again before opera tion Lubrication or relubrication of the toothed rack pinion unit with rolling bearing grease is recommended after approx 4 million cycles All rotary actuators of series RM are maintenance free In order to achieve the maxi mum operating life this chapter and chapter 6 2 at page 6 of this user manual should be observed Apart from normal cleaning of machines no further maintenance measures are necessary 12 Date printed 23 02 2011 Assembly and Operation Manual er Rotary actuator type RM SCHUNK 11 Replacement parts As standardised wear part sets seal sets are available The scope of delivery includes all seals Ordering numbers of seal sets RMDI 12 for rotary actuator RM 12 RMDI 15 for rotary actuator RM 15 RMDI 21 for rotary actuator RM 21 In accordance with the section drawing below all other wear parts and individual parts are available as
4. 5770 0 777 Zhao Jia Bang Road Rothschild Bangalore 560 022 Fax 43 7229 65770 14 Pine City Hotel Room 923 Ferrieres en Brie Tel 91 80 41277361 info at schunk com Xuhui District 77614 Marne la Vall e Fax 91 80 41277363 www at schunk com Shanghai 200032 Cedex 3 info in schunk com Tel 86 21 64433177 Tel 33 1 64 66 38 24 www in schunk com Fax 86 21 64431922 Fax 33 1 64 66 38 23 info cn schunk com info fr schunk com www cn schunk com www fr schunk com N Le AIIS BELGIUM LUXEMBOURG CZECH REPUBLIC GREAT BRITAIN IRELAND ITALY SCHUNK Intec N V S A SCHUNK Intec s r o SCHUNK Intec Ltd SCHUNK Intec S r l Bedrijvencentrum Regio Aalst Ernsta Macha 1 Cromwell Business Centre Via Barozzo Industrielaan 4 Zuid III 643 00 Brno 10 Howard Way 22075 Lurate Caccivio CO 9320 Aalst Erembodegem Tel 420 545 229 095 Interchange Park Tel 39 031 4951311 Tel 382 53 853504 Fax 420 545 220 508 Newport Pagnell MK16 9QS Fax 39 031 4951301 Fax 32 53 836022 info cz schunk com Tel 44 1908 611127 info it schunk com info be schunk com www cz schunk com Fax 44 1908 615525 www it schunk com www be schunk com info gb schunk com www gb schunk com 15 Date printed 23 02 2011 Assembly and Operation Manual Rotary actuator type RM JAPAN SCHUNK Intec K K 45 28 3 Chome Sanno Ohta Ku Tokyo 143 0023 Tel 81 33 7743731 Fax 81 33 7766500 s takano tbk hand co jp www tok hand co jp POLAND SCHUNK Intec Sp z 0 0 Stara Iwi
5. Assembly and Operation Manual SCHUNK e Rotary actuator type RM ROTARY ACTUATOR TYPES RM 12 To RM 21 Dear Customer Congratulations on choosing a SCHUNK product By choosing SCHUNK you have opted for the highest precision top quality and best service You are going to increase the process reliability of your production and achieve best machining results to the customer s complete satisfaction SCHUNK products are inspiring Our detailed assembly and operation manual will Support you Do you have further questions You may contact us at any time even after purchase You can reach us directly at the mentioned addresses in the last chapter of these instructions Kindest Regards Your SCHUNK GmbH amp Co KG Precision Workholding Systems Bahnhofstr 106 134 D 74348 Lauffen Neckar Tel 49 7133 103 2503 Fax 49 7133 103 2189 EA automation de schunk com DIN EN ISO 9001 iNet z www schunk com Q ITY S Qr Document last update 18 02 2008 a Reg No DE 3496 01 G 1 Date printed 23 02 2011 Assembly and Operation Manual er Rotary actuator type RM SCHUNK wll Contents 1 E H EEN 2 1 1 ERA 18 EEN 2 1 2 PROP ROP RIA ge E EEN 3 1 3 DARE TY aen ge 4 1 4 INDICATIONS TO THE OPERATING MANUALE 4 E Eh EN lteter tir a Te nC EE 5 S gt SCOPE OF DELIVER Y EE 5 A TECHNICAL DATA EE 5 5 OPERATING AND ENVIRONMENTAL CONDITIONS ene ccececencesencecencecenceeneeneneeeneeneneess 5 6 ASSEMBLY GNEKAINSSTEZOKGC
6. E er SE SS Fees D BR d RZ 12 DIN 433 3 2 ST max 2mm RZ 15 DIN 433 3 2 ST max 2mm RZ 21 DIN 126 5 5 ST max 5mm Figure 3 Rotary actuator shown in intermediate position at 90 The intermediate position can be set at any point over the entire swivel range of the rotary ac tuator It must be noted that the toothed racks of rotary actuators are tensioned without back lash where a controlled intermediate stop is used For an intermediate position of 90 degrees or more the stop cylinders must be changed over The intermediate position is set by rotating the complete stop cylinders inwards or outwards The locknut Pos 5 must first be loosened and must be tightened again afterwards 7 4 2 Damping adjustment The stroke of the shock absorber and thus the damping curve can be matched to the mass moment of inertia occurring in operation by inserting shims under the shock absorber Pos 9 The stop sleeve Pos 2 with theh shock absorber Pos 9 and piston Pos 3 must be dismantled first 7 4 3 Interrogation of intermediate position For interrogation of the intermediate position the interrogation set RMNZ is available This interrogation set is identical with the end position interrogation set RMNS but contains only one switching cam proximity switch and connection cable and is mounted on the opposite side 10 Date printed 23 02 2011 Assembly and Operation Manual er Rotary actuator type RM SCHUNK 8 Rep
7. HCHN eege ge den 6 6 1 DESIGN PRECAUTIONS seit ose eicecteceadarctleusisdasonatatadamabaladacazehababehabatabesubabehahababanatabeaabenehesacetenateaed 6 6 2 COMPRESSED AIR SUPPLY aannannnunnnunnnunnnnnnnnnnunrnnurrn unanenn anaana norna LERDE A REAAL EER LEER CEAR CEAR LEERDER EPAR nnna nanen 6 6 3 SPECIAL CONNECTINGMEAGURES 6 6 4 ASSEMBLY EIERE Ge tele 7 6 5 MEASURES FOR THE INITIAL OPBERATION 7 7 HANDLING EE 8 7 1 FINE ADJUSTMENT OF ROTATION ANGLE ranu ranner anura nuoran annann nanu nanenane 8 7 2 BATTER reg RL Ch EE 8 7 3 END POSITION INTERROGATION sicvsiecvicvnivie ege ARENS NR REES acne auseeeseaescenseceeacsedeaeaesensees 9 7 4 INTERMEDIATE STOPS EE 10 7 4 1 Setting Of mmtermediat POSITION creiser eenaa aE EEA AEAEE AEE A EE AEAEE 10 7 4 2 Dampo el 10 7 4 3 Interrogation Of intermediate Dositon 10 8 Pa Pa e aati AAAA EE EE EE EE 11 9 RESPONSE TO MALFUNCTIONS Q ccccccccccececcececenceneeceneeneneeceneeeeneeaeneeseneeaeaeeaeneeaeneeaeneenenesnenens 11 10 MAINTENANCE AND CARE cccccccececencecencecceceneeseneececeeceneeeeneeseneeseaneeseaeaseaeeseneeaenesaeneeaenesaenees 12 11 REPLACEMENT 871 1 CN 13 12 INDEX hua EELER EE EE FEHLER TEXTMARKE NICHT DEFINIERT 13 EC DECLARATION OF INCORPORATION cccceccecececcecsccecenceceneeceneeceneeseneseeneeeenesesnesaenesaenees 14 14 GCONTAG RE EE EE 15 1 Safety 1 1 Symbol key A You will find this symbol wherever hazards for persons or damage to the product 2 Date p
8. airs The repair or elimination of defects on our products by the customer may only be Carried out with our explicit written agreement Any failure to adhere to this principle renders invalid our warranty and liability for any resulting warranty or secondary losses Following receipt and examination all linear actuators of series RM can be repaired by SCHUNK 9 Response to malfunctions A Malfunctions that are caused by defective components may only be remedied by replacement of these components Defective components may only be replaced by SCHUNK genuine replacement parts 1 No compressed air 1 Check compressed air Actuator does not 2 Incorrect pneumatic 2 Check pneumatic elements rotate connections 1 Initiator incorrectly set in 1 Readjust initiator relation to stop 2 Initiator defective 2 Replace initiator 3 Broken cable 3 Replace initiator cable End position sig nal not present 1 Damping incorrectly 1 Adjust stop screw adjusted Actuator impacts 2 Shock absorber defective 2 Change shock absorber on end positions 3 Ventilation valve defective 3 Check ventilation valve 4 Rotation speed too high 4 Set ventilation valve 1 Rotation speed too high 1 Set ventilation valve Service load 2 Inadequate damping 2 Optimise damper stroke vibrates in end 3 Unfavourable installation 3 Check design position 4 Unfavourable RM type 4 Use larger RM type 11 Date printed 23 0
9. czna ul Stoneczna 116 A 05 500 Piaseczno Tel 48 22 7262500 Fax 48 22 7262525 info pl schunk com www pl schunk com MEXICO VENEZUELA SCHUNK Intec S A de C V Av Luis Vega y Monroy 332 Fracc Plazas de Sol Santiago de Queretaro Qro 76099 Tel 52 442 223 6525 Fax 52 442 223 7665 info mx schunk com www mx schunk com NETHERLANDS SCHUNK Intec B V Speldenmakerstraat 3d 5232 BH s Hertogenbosch Tel 31 73 6441779 Fax 31 73 6448025 info nl schunk com www nl schunk com PORTUGAL Sales Representative Victor Marques Tel 34 937 556 020 Fax 34 937 908 692 Mobil 351 963 786 445 info pt schunk com www pt schunk com SLOVAKIA SCHUNK Intec s r o Mostn 62 919 01 Nitra Tel 421 37 3260610 Fax 421 37 6421906 info sk schunk com www sk schunk com SCHUNK e SOUTH KOREA SCHUNK Intec Korea Ltd 907 Joongang Induspia 2 Bldg 144 5 Sangdaewon dong Jungwon gu Seongnam si Kyunggi do 462 722 Tel 82 31 7376141 Fax 82 31 7376142 info kr schunk com www kr schunk com SPAIN SCHUNK Intec S L Foneria 27 08304 Mataro Barcelona Tel 34 937 556 020 Fax 34 937 908 692 info es schunk com www es schunk com SWEDEN SCHUNK Intec AB Morabergsvagen 28 152 42 S dert lje Tel 46 8 554 421 00 Fax 46 8 554 421 01 info se schunk com www se schunk com 16 SWITZERLAND LIECHTENSTEIN SCHUNK Intec AG Soodring 19 8134 Adliswil 2 Tel 41 44 7102171 Fax
10. essure builds up gradually Contact SCHUNK see chapter 12 page 14 if the product is to be used under one of the following conditions Conditions and environments that lie outside the stated specifications or where the product is to be used outdoors Installation in equipment in conjunction with nuclear power railways aero space vehicles medical equipment food and drink leisure equipment emergency shutdown circuits applications in presses or safety equipment Any application that may possibly have negative influences on persons animals or property and that requires a special safety analysis This user manual should always be easily accessible 1 4 Indications to the operating manual This user manual describes gripper actuators of series RM 12 RM 15 and RM 21 All statements in this user manual refer to the types stated above 4 Date printed 23 02 2011 Assembly and Operation Manual er Rotary actuator type RM SCHUNK 2 Warranty The warranty period is 24 months or 40 million load cycles after delivery date from the factory assuming use in single shift operation and that the recommended maintenance and lubrication intervals are respected Components that come into contact with workpieces wearing parts shock absorbers stop screws and proximity switches are never included in the warranty The warranty covers the replacement or repair of defective parts in the manufacturing plant Further claims are hereby excluded In t
11. his context please also see our General Terms and Conditions 3 Scope of Delivery The scope of delivery comprises Rotary actuator type RM depending on the version ordered 4 Technical Data Please consult our catalogue for further technical details The last version is valid in each case in accordance with Chapter 2 3 General Terms and Conditions The airborne sound emitted from the unit is lt 70dB A 5 Operating and environmental conditions Do not use the product in environments comprising corrosive gases salt water water Or vapours For use in an atmosphere where water drops oil sorays etc occur take appropriate countermeasures in order to ensure protection If electronic end switches are to be used these should not be used in the presence of strong magnetic fields Please contact SCHUNK see chapter 12 page 14 if the product is to be used in the presence of strong magnetic fields Do not use the rotary actuator in an atmosphere in which it could come into contact with fluids such as oil or water Do not use the rotary actuator in an atmosphere in which it could come into direct contact with substances such as powder dust dust sprays etc Do not use the rotary actuator in an atmosphere in which sources of heat are present Do not subject the rotary actuator to excessive vibrations and or shocks 5 Date printed 23 02 2011 Assembly and Operation Manual er Rotary actuator type RM SCHUNK 6 Assembly and In
12. matic components from their packaging until shortly before fit ting 6 Date printed 23 02 2011 Assembly and Operation Manual Rotary actuator type RM SCHUNK e 6 4 Assembly measures During the mounting of loads do not allow the system to be subjected to impermissible forces or moments The flatness of the mounting surfaces must be less than 0 02mm Select the correct means of connection with a load that has its own guidance mechanism and ensure that this is adequately aligned Avoid contact with the rotary actuator during operation Select a suitable screw tightening torque for mounting of the rotary actuator or loads on the rotary actuator in accordance with the generally valid guidelines for screw connections 6 5 Measures for the initial operation _ Please read this user manual carefully Knowledge of this user manual is essential in order to prevent errors and ensure problem free operation A Under no circumstances may rotary actuators be operated with oiled air if they are subsequently to be operated with oil free air Check the technical specifications Do not use the device until you have checked that it functions correctly taking account of all permissible operating parameters Regulate the operating speed of the cylinder by means of throttle type non return valves Increase from the low speed to higher speeds until the required operating speed is reached Selection and dimensioning Do not subject the unit
13. nufacturer agrees to forward on demand the special technical documents for the incomplete machine to state offices The special technical documents according to Annex VII Part B belonging to the incomplete machine have been created Person responsible for documentation Mr Michael Eckert Tel 49 0 7133 103 2204 Location date signature eo 4 lt Lauffen Germany January 2011 p p Title of the signatory Director for Development 14 Date printed 23 02 2011 Assembly and Operation Manual Rotary actuator type RM SCHUNK 13 Contact e GERMANY HEAD OFFICE CANADA DENMARK HUNGARY SCHUNK GmbH amp Co KG SCHUNK Intec Corp SCHUNK Intec A S SCHUNK Intec Kft Spann und Greiftechnik 190 Britannia Road East Storhaven 7 Sz chenyi ut 70 Bahnhofstrasse 106 134 Units 23 24 7100 Vejle 3530 Miskolc D Lauffen Neckar Mississauga ON L4Z 1W6 Tel 45 43601339 Tel 36 46 50900 7 Tel 49 7133 103 0 Tel 1 905 712 2200 Fax 45 43601492 Fax 36 46 50900 6 Fax 49 7133 103 2399 Fax 1 905 712 2210 info dk schunk com info hu schunk com info de schunk com info ca schunk com www dk schunk com www hu schunk com www schunk com www ca schunk com AUSTRIA CHINA FRANCE INDIA SCHUNK Intec GmbH SCHUNK GmbH amp Co KG SCHUNK Intec SARL SCHUNK India Branch Office Holzbauernstr 20 Shanghai Parc d Activit s des Trois 80 B Yeswanthpur 4050 Traun Representative Office Noyers 15 Avenue James de Industrial Suburbs Tel 438 7229 6
14. rinted 23 02 2011 Assembly and Operation Manual er Rotary actuator type RM SCHUNK are possible S This symbol indicates important information on the product or its handling 1 2 Appropriate Use The rotary actuators are manufactured in accordance with the current level of technology and with recognised safety regulations During their use however there may occur risks to life and limb of the user or impairment of the rotary actuator and other material assets The rotary actuators are intended exclusively for the swivelling movement of service loads in any position that do not react in their manipulation with any risk to persons property or the environment The maximum permissible service loads and forces are given in our standard catalogue Any usage beyond these definitions is inappropriate The manufacturer cannot be held liable for loss or damage arising therefrom The risk is borne exclusively by the user Usage in accordance with directions includes observation of the user manual as well as adherence to the maintenance and repair specifications prescribed by the manufacturer The rotary actuator must only be operated by persons that are familiar therewith and that have been instructed in the associated hazards The relevant accident prevention regulations and the other generally recognised safety and occupational health regulations must be complied with 3 Date printed 23 02 2011 Assembly and Operation Manual er
15. s to loads that exceed the limits of their operating range If excessive loads are applied the gripper jaw guidance system and closing mechanism could suffer damage or inaccuracies The maximum permissible loads are given in our standard catalogue Do not allow the system to experience impermissible forces or shocks 7 Date printed 23 02 2011 Assembly and Operation Manual er Rotary actuator type RM SCHUNK wel 7 Handling 7 1 Fine adjustment of rotation angle For fine adjustment of the rotation angle and matching of the end damping to the mass moment of inertia occurring in operation the following parts are included in the scope of delivery of each rotary actuator Stop collar Pos 10 Locknut Pos 11 Locknut Pos 12 Shock absorber Pos 18 Once the locknut Pos 11 has been loosened the rotation angle can be steplessly adjusted between 0 and 180 degrees by turning the stop collar Pos 10 with the integral shock absorber Pos 18 Each end position can be adjusted by 90 degrees 121018 11 f d Wf ws LAS SSS LISS WIE Cari ae 2 i i Uy EH H YU ee Ss bs DEEN SN SS 2S Ses Figure 1 Fine adjustment of rotation angle 7 2 Damping adjustment A Operation without the shock absorbers included as standard in the scope of delivery is not permissible Please note the maximum permissible mass moment of inertia stated in our standard catalogue After
16. single items Ordering numbers are as indicated in the following example Part No 1 RM 15 01 for rotary actuator RM 15 ae UTA CANIS A fh LAWN it 4 E k AN 23 18 21 3 1427 Ap 16 NJ Z WEES Ws D 7 E SE deren D Ers EE CH j eZ SN al SEET 12 10 11 22 24 6 4 Figure 4 section drawing RM 13 Date printed 23 02 2011 Assembly and Operation Manual er Rotary actuator type RM SCHUNK 12 EC declaration of incorporation In terms of the EC Machinery Directive 2006 42 EC annex II B Manufacturer SCHUNK GmbH amp Co KG distributor Spann und Greiftechnik Bahnhofstr 106 134 74348 Lauffen Neckar Germany We hereby declare that the following product Product designation Rotary modules pneumatic swivel unit Type designation RM 12 RM21 ID number 0313000 0313015 meets the applicable basic requirements of the Directive Machinery 2006 42 EC The incomplete machine may not be put into operation until conformity of the machine into which the incomplete machine is to be installed with the provisions of the Machinery Directive 2006 42 EC is confirmed Applied harmonized standards especially EN ISO 12100 1 Safety of machines Basic concepts general principles for design Part 1 Basic terminology methodology EN ISO 12100 2 Safety of machines Basic concepts general principles for design Part 2 Technical principles The ma
17. stallation 6 1 Design precautions A protective guard is recommended in order to minimise the risk of injury Ensure that loose fixed and or connected parts or tightened securely Operation without the shock absorbers included as standard in the scope of delivery is not permissible Take account of the possibility that the operating pressure may decrease as a result of power failures etc Pay attention to the possibility of the failure of power supplies Mount the compressed air supply in such a way as to prevent a gripping action Pay attention to emergency shutdown facilities Pay attention to what will happen after an emergency stop or abnormal stoppage Ensure that nobody can be placed at risk or be injured when equipment is restarted 6 2 Compressed air supply Use clean compressed air and insert a filter between the supply and the pneumatic system Install a water separator in the pneumatic system Use the product only within the range specified for the medium temperature and ambient temperature Air specification dry free from condensation filtered to 10 microns oiled or oil free 6 3 Special connecting measures Use connecting pipes of a cross section that is larger than or identical to that of the connector thread Blow air through the connecting pipes before fitting the devices in order to remove any dust contaminant or particles Avoid the ingress of sealing material into the pipe network Do not remove pneu
18. the locknut Pos 12 has been loosened the stroke length of the shock absorber and thus the damping curve can be matched to the mass moment of inertia occurring in operation by rotating the shock absorber Pos 18 inwards or outwards This does not affect the rotation angle set previously 8 Date printed 23 02 2011 Assembly and Operation Manual SCHUNK e Rotary actuator type RM 7 3 End position interrogation Standardised interrogation sets for direct mounting are available for interrogation of end posi tions Proximity switch complete RMNS The scope of delivery includes 1x retaining plate 2x switching cam 2x proximity switch 2x connection cable proximity switch RMNZ proximity switch RMNS Figure 2 position of proximity switch After the clamping screw has been loosened the switching cam can be steplessly adjusted in a vee shaped slot in the turntable The specific end position interrogation can thus be precisely adjusted for each rotation angle set 9 Date printed 23 02 2011 Assembly and Operation Manual er Rotary actuator type RM SCHUNK wel 7 4 Intermediate stops RZ 7 4 1 Setting of intermediate position Intermediate stops are additional modules for rotary actuators and are available for all rotary actuator sizes of this series 95 3 613 1 j II I L b EE ELLELS LL LLLI EEE L ELIS Pore rae 2 S SSES ae So 8 SH A Cf N oooh a U ET LN S
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