Assembly and Operating Manual

Universal Rotary Actuator PRL

UNIVERSAL ROTARY
ACTUATOR PRL
SIZES 60, 80, 100, 120

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 & Co. KG

Precision Workholding Systems
Bahnhofstr. 106 - 134
D-74348 Lauffen/ Neckar

Tel. +49-7133-103-2503
Fax +49-7133-103-2189
[email protected]
www.schunk.com

Document-last-updated: 10.12.2008

1 Date printed 10.12.2008

Assembly and Operating Manual

Universal Rotary Actuator PRL

2 Date printed 10.12.2008

Assembly and Operating Manual

Universal Rotary Actuator PRL

Table of contents

1.  SAFETY................................................................................................................................................. 4 
1.1.  EXPLANATION OF SYMBOLS .............................................................................................................. 4 
1.1.  INTENDED USE ................................................................................................................................. 4 
1.2.  ENVIRONMENTAL AND OPERATING CONDITIONS .................................................................................. 4 
1.3.  SAFETY INFORMATION ...................................................................................................................... 5 
2.  WARRANTY .......................................................................................................................................... 7 
3.  SCOPE OF DELIVERY ......................................................................................................................... 7 
4.  TECHNICAL DATA ............................................................................................................................... 8 
4.1.  BASIC DATA ..................................................................................................................................... 8 
4.2.  DIMENSIONS .................................................................................................................................. 10 
4.2.1.  PRL 60 ................................................................................................................................. 10 
4.2.2.  PRL 80 ................................................................................................................................. 10 
4.2.3.  PRL 100 ............................................................................................................................... 11 
4.2.4.  PRL 120 ............................................................................................................................... 11 
5.  DESCRIPTION OF THE MODULE ..................................................................................................... 12 
5.1.  OPERATING PRINCIPLE ................................................................................................................... 12 
6.  ASSEMBLY ......................................................................................................................................... 13 
6.1.  MECHANICAL CONNECTION ............................................................................................................ 13 
6.1.1.  Mounting of the unit ............................................................................................................. 13 
6.1.2.  Example of mounting ........................................................................................................... 15 
6.2.  ELECTRICAL CONNECTION .............................................................................................................. 16 
6.2.1.  Connection to the power supply .......................................................................................... 16 
6.2.2.  Connection Communication interface RS232 ..................................................................... 16 
6.2.3.  Connection CAN-Bus .......................................................................................................... 17 
6.2.4.  Connection Profibus DB ...................................................................................................... 18 
6.3.  SPECIAL ARRANGEMENTS FOR TERMINATION .................................................................................... 19 
6.4.  HOST CONNECTORS ....................................................................................................................... 20 
6.4.1.  Connecting to a RS232-Master (e.g. PC) ............................................................................ 20 
6.4.2.  Connecting to a CAN-Host(e.g. PC with CAN-board) ......................................................... 20 
6.4.3.  Connecting to a Profibus-Master (e.g. SPS) ....................................................................... 20 
6.5.  CIRCUIT DIAGRAM AND MAXIMUM CABLE LENGTH .............................................................................. 21 
7.  SYSTEM INTEGRATION AND INITIAL OPERATION ....................................................................... 22 
7.1.  GETTING STARTED ......................................................................................................................... 22 
7.2.  SYSTEM REQUIREMENTS ................................................................................................................ 22 
7.3.  INSTALLING THE COMMUNICATION INTERFACE ................................................................................. 23 
7.4.  INSTALLING THE POWERCUBE SOFTWARE ....................................................................................... 23 
8.  TROUBLESHOOTING ........................................................................................................................ 24 
9.  MAINTENANCE AND CARE .............................................................................................................. 25 
9.1.  CLEANING...................................................................................................................................... 25 
9.2.  DISASSEMBLY OF THE MODULE ....................................................................................................... 25 
10.  ACCESSORIES .................................................................................................................................. 26 
10.1.  TERMINAL BLOCK ....................................................................................................................... 26 
10.2.  CABLE ....................................................................................................................................... 27 
10.3.  CONNECTION ELEMENTS ............................................................................................................ 28 
11.  MANUFACTURER'S DECLARATION ............................................................................................... 29 
12.  CONTACT ........................................................................................................................................... 30 

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A PRL

1. Saffety

1.1.. Explanation of sym

mbols

This symbo
ol is displayyed whereve
er there is a possibilityy of danger to life and limb.

This symbo
ol is displayyed whereve
er there is a possibilityy of damage
e to the uniit exists.

This symbo
ol denotes important
i i n about the
information e product an
nd its handliing.

1.1.. Intended use

The unit may be ussed only witthin the range of its tec chnical dataa.
The PR
RL modules are intende ed for installlation / mouunting in ele
ectrical macchines and equipment.
e
The con
nditions spe
ecified in the
e machine directive
d forr interchang
geable equip pment shalll apply.

Observe
e the safetyy information in the standard "Elec
ctrical Equip
pment for M
Machines"
(DIN EN
N 60204).

Approprriate use alsso includes compliance e with the conditions

c th
he manufaccturer has sp
pecified for
commisssioning, assembly, ope eration, envvironment and
a mainten nance..

Using th
he system with
w disrega ard to even a minor spe ecification will
w be deem med inapproopriate use.
The maanufacturer assumes
a no
o liability for any injury or damage e resulting frrom inappro
opriate use..

1.2.. Environm
mental and
d operating conditio
ons

- Use the unit

u only witthin the app plication parrameters de efined in thee Technical Catalog.
The mostt recent verrsion appliess (according g to Chapte er 2.3 of thee General Te erms
and Cond ditions).
- Clean am mbient conditions at roo
om tempera ature are req quired. If these conditio ons
are not ensured, thee maintenan nce interval will be shorrter, depend ding on the actual
n.
utilization
- The envirronment mu ust be free ofo splashing g water and vapors, an nd also of ab brasive
dust and process du ust. This doe es not applyy to units de
esigned esp pecially for unclean
u
environm ments.

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1.3. Safety information

1. There are potential risks associated with the unit, for example if:
- the unit is improperly used, installed or serviced.
- the unit is used other than for the intended purpose.
- the EC Machine Directive, the accident prevention regulations, the VDE
guidelines or the safety and installation instructions are not observed.

2. All personnel who are responsible for installation, commissioning and servicing
must have read and understood the entire operating manual, in particular the
chapter on »Safety«. It is recommended to have this confirmed in writing.

3. Installation and dismantling, connections and commissioning may be carried out

only by authorized personnel.

4. Dangers exist due to units automatically starting up!

- Do not reach into the area of motion of the rotary unit.
- Do not move any parts by hand when the unit is connected to the power
supply.
- Remove the power supply cables for assembly, modification,
maintenance and adjustment of the unit.

5. During connection, adjusting, commissioning and testing, measures must be taken

to prevent the risk of inadvertent activation of the unit by the fitter / installer or other
persons.

6. During operation dangers can be caused by the rotary unit due to:
- moving or rotating parts
- or hot surfaces – up to 110°C!

Therefore, suitable protective measures such as protective covers must be

provided in accordance with the EC Machine Directive.

7. The electric unit is not suitable for use in potentially explosive areas.
If the electric rotary unit is to be used in special applications (e.g. potentially
explosive areas), always comply with the required standards and regulations (e.g.
EN 50014 and EN 50018).
The approval for such special areas of application must always be obtained from
Schunk in writing.
8. Ensure compliance with EMC directives when connecting the unit.

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9. Danger due to overload of the unit!

The result of overload of the rotary unit is that the brake no longer has any effect
on the output and the customer’s attachment cannot be held!
- Prevent overload of the rotary unit by compliance with the specified loads
(see »Technical Data«).
- - Secure area of motion of the rotary unit to prevent accidental entry.

11. The rotary unit is equipped with an electric drive.

Serious injuries and major damages can be prevented by:
- Assignment of only qualified personnel for all work on/with the unit!
(Personnel who are familiar with electric drive systems and with the
installation, assembly, commissioning and operation of electric drives.)
- Observe the applicable national accident prevention regulations etc. Cp.
IEC 364 and CENELEC HD 384 or DIN VDE 0100 and IEC-Report 664
or VDE 0110 and national accident prevention regulations or VBG 4.)
- During transport and handling, make sure that no components are bent
and that no insulation clearances are changed. (Electric rotary units
contain electrostatically sensitive components.)
- Establish all electrical connections in accordance with the information in
this documentation and the relevant regulations (e.g. wire size, fuses,
protective conductors).

12. Repairs in and on an electric rotary unit may be carried out only by the
manufacturer or an authorized repair center.
Unauthorized opening and improper handling can result in bodily injury and
material damage.

13. Electronic devices are not fail-safe. The user is personally responsible for ensuring
that the drive is in a safe state in the event of a failure.

14. Additional bore holes, threads or attachments not offered by SCHUNK as

accessories may be mounted only after obtaining the approval of SCHUNK.

15 In addition, the applicable safety regulations and accident prevention regulations

must be observed.

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A PRL

2. Wa
arranty
The warranty periood is 24 monnths from th
he date of delivery
d whe
en utilized a
as intended in single-
shift ope
erations and in complia
ance with th
he specified
d maintenan nce and lubrication inte
ervals.
Parts th
hat come intto contact with
w the worrkpiece and wearing pa arts are not covered byy the war-
ranty. See
S also ourr General Terms
T and Conditions
C in
n this regarrd.

The unit is conside

ered defectivve when the ary function (to drive) iss inoperable
e basic rota e.

3. Sco
ope of de
elivery
The scoope of delive
ery includess:
- PRL (in thhe ordered model)
- CD-ROM M
- Additionaal Package

Con
ntent of th
he CD-ROM
M
- Operating
g manual PRL in PDF format
- Software manual in PDF formatt
- Software PowerCube

Con
ntent of th
he addition
nal Packag
ge
- Jumper (3
3x)
- Wire end sleeves (10
0x)
- Cable lug
gs (2x)

Other acceessories for the unit are

e available in the SCHU
UNK
catalog, at www.schun nk.com or from your SCHUNK contact person.

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4. Technical Data

4.1. Basic data

Type 60 80 100 120

ID.-No. 0306910 0306915 0306920 0306925
Motor power [W] 40 80 130 250
Motor type Brushless DC servo.motor
Holding brake integrated
Nominal torque [Nm] 4.5 20.7 81.5 216.0
Peak torque [Nm] 9.6 41.4 176.0 372.0
Angle of rotation (>) [°] > 360.0 > 360.0 > 360.0 > 360.0
Weight [kg] 1.0 1.2 2.0 3.6
Swivelling time (90°) 2.55 4.25 4.25 4.25
with mean attached load [s]
min. ambient temperature [°C] 5 5 5 5
max. ambient temperature [°C] 55 55 55 55
Repeat accuracy [°] 0.002 0.002 0.002 0.002
max. angular velocity [°/s] 50 25 24 25
max. acceleration [°/s2] 200 100 95 100
Gear ratio 300:1 552:1 625:1 596:1
Resolution 6.827 12.561 14.236 13.580
Hollow shaft for media feed-through Ø [mm] 8 12 13 18
Noise level [dB(A)] <= 70 <= 70 <= 70 <= 70
IP class see page 9 see page 9 see page 9 see page 9
Dimensions see page 10 see page 10 see page 11 see page 11
Electrical operating data
Nominal voltage [VDC] 24.0 24.0 24.0 24.0
Nominal power current [A] 2.0 3.0 4.0 5.0
Max. current [A] 4.0 6.0 8.0 10.0
Resolution [“] 2.0 1.0 1.0 1.0
Control electronics
Integrated electronics yes yes yes yes
Voltage supply [VDC] 24.0 24.0 24 24.0
Nominal power current [A] 0.5 0.5 0.5 0.5
Sensor system Incremental encoder with absolute encoder function
Interfaces RS-232; Profibus-DP; CAN-Bus
Table 1

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Factory settings of all modules

DEFAULT values
Communication RS232
Module address 15
Table 2

Note
Additional technical data can be found in our catalog. The most recent version applies.
(according to Terms and Conditions in Chapter 2.3)

IP class

A B

Fig. 1 PRL without and with moisture-proof cap

Pos. Description IP
A standard configuration 40
B with mounted moisture-proof cap 52
Table 3

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4.2.. Dimensio
ons

4
4.2.1. PRL
L 60

Fig. 2: Dimension
D ns PRL 60

4
4.2.2. PRL
L 80

Fig. 3: Dimension
D ns PRL 80

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4
4.2.3. PRL
L 100

Fig. 4: Dimension
D ns PRL 100

4
4.2.4. PRL
L 120

Fig. 5: Dimension
D ns PRL 120

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5. Description of the module

5.1. Operating principle

The actuator (the brushless DC servo motor) is controlled by the internal logic, which receives
the required parameters from the master controller.

The module executes a movement. Their position is monitored constantly. The required data is
transmitted by sensors back to the internal logic.

The unit is controlled via the user interface, where the required data is transmitted via the in-
ternal logic. You can define the following parameters, for example:
- Current i;
- Angular positioning
- Speed v;
- Acceleration α.

Fig. 6

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A PRL

6. Ass
sembly

6.1.. Mechanic
cal Conne
ection

6
6.1.1. Mou
unting of th
he unit

Danger!
Falling parrts as a resu
ult of incorre
ect modifica
ations and attachments
a s to the macchine or
system! Faatal head injjuries (e.g. lacerations) or server bodily
b injuries (e.g. con
ntusions)
are possible!
- Leave power switcched off unttil all mountting work haas been com mpleted.
- Have mounting
m wo
ork carried out
o only by qualified orr specially trrained personnel.
- Wear proper
p prote
ective gear (e.g.
( safety helmet).

ety information in chaptter 1.3 on pa

Also obserrve the safe age 5!

Mount the
t unit so that:
t
- The conn nection cable does not present a hazard
h to pe
ersonnel or the machin
ne.
(e.g.: prevent malfun
nctions by winding
w up the
t cable!)
- Personne el and the machine
m are
e not expose
ed to hazard
ds.
(e.g.: prevent crushing betweenn machine parts;
p
prevent collisions
c of machine paarts

Warning!
Nonobservvance will le
ead to leaka
age of the module
m and may result in destruction of the
integrated Electronic!

Before mounting
m th
he PowerCuube-Module es, check the permissib
ble depth off engageme
ent. In Ta-
ble 4 yo
ou find the correspondi
c ng Data, measured fro
om module surface.

SCHUNK suggest
s to use
u special connecting g elements. Information
n on this can be
found in Ch
hapter “Acccessories“ and
a in the cu
urrent issue
e of the SCH
HUNK catallog.

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A PRL

Require ements forr levelness of the boltting surfac ce

(in relattion to the entire
e boltingg surface fo
or the grippe
er)
- < 0.02 mm m for an ed u to 100 mm
dge length up
- < 0.05 mm m for an ed dge length of
o 100 mm or o more

/1/ /2/

Electronicc-side Robo
ot-side
Fig. 7: Mechanica
M al Connectiion

Type PR
RL
Pos. Descriptio
on
60
6 80 100 120
/1/ Thread for mounting the module M3 / 4,5 M3 / 4,5 M4 / 6,0 M5
M / 7,5
/2/ Thread for mounting the module M3 / 4,5 M3 / 4,5 M4 / 6,0 M5
M / 7,5
Screws of strength cla
ass 8.8 8.8 8.8 8.8
8
Max. tighte
ening torque
e [Nm] 1,27 1,27 3,0 5,9
5
Table 4:
4 Details Fig. 7

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6.1.2. Example of mounting

/1/

/2/

/3/

Fig. 8: Example of mounting PRL modules

Pos. Description
/1/ Connection element 120
/2/ PRL 120
/3/ Pedestal PRL 120
Table 5: Details Fig. 8

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6.2. Electrical Connection

6.2.1. Connection to the power supply

Danger of short circuit!
The printed circuit board could be destroyed!
Due to incorrect connection of the power supply.
- Note layout of the terminals..

6.2.2. Connection Communication interface RS232

Fig. 9: Example of mounting

PowerCube
24V
1...n

A1 A2 A1 A2 2 5 4 4 5 2
RS RxD ws (2)

RS TxD bn (3)

Shield (5)

24V rt

0V bl

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6.2.3. Connection CAN-Bus

Fig. 10: Assembling example CAN-Bus

Notice!
The CAN bus has to be terminated with 120 Ω on both ends. Please check your CAN-
Interface whether there is a terminator integrated! Many interfaces have jumper config-
urable terminators on board.

PowerCube
24V 1...n

A1 A2 A1 A2 1 3 4 4 3 1
CAN hi gn (7)

CAN lo ge (2) 120 Ohm

Shield (3)

24V rt

0V bl

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6.2.4. Connection Profibus DB

Notice!
Please make sure the A1 and B1 lines of the PROFIBUS are connected exactly as
specified above. If communication fails to start you may try to exchange both lines.
The bus must be terminated on both ends using an active Terminator.

Fig. 11: Assembling example Profi-Bus

Terminator SIEMENS PowerCube Terminator SIEMENS

6ES7 972-0DA00-0AA0 24V 6ES7 972-0DA00-0AA0
1...n

L+ M A1 B1 A1 A2 A1 A2 1 3 4 43 1 L+ M A1 B1
A1 gn (8)

B1 ge (3)

Shield (5)

24V rt

0V bl

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6.3. special arrangements for termination

For termination of CAN-Bus and Profibus a terminator has to be set.

CAN-Bus

Fig. 12: terminating resistor CAN-Bus

Set the jumper as shown in Fig. 12

Profibus DB

SCHUNK advises the use of an active terminator (e.g. Siemens 6E7 972 0DA00-0AA0)

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6.4. Host connectors

6.4.1. Connecting to a RS232-Master (e.g. PC)

Connector (female) Pin Color Description
1 - -
1 2 white RxD
6
3 brown TxD
4 - -
5 Shield GND
6 - -
9 7 - -
5 8 - -
9 - -
Table 6

6.4.2. Connecting to a CAN-Host(e.g. PC with CAN-board)

Connector (female) Pin Color Description
1 - -
1 2 yellow CAN-Lo
6
3 Shielding GND
4 - -
5 - -
6 - -
9 7 green CAN-Hi
5 8 - -
9 - -
Table 7

6.4.3. Connecting to a Profibus-Master (e.g. SPS)

Connector (female) Pin Color Description
1 - -
1 2 - -
6
3 yellow B1
4 - -
5 Shield GND
6 - -
9 7 - -
5 8 green A1
9 - -
Table 8

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6.5. Circuit diagram and maximum cable length

Fig. 13: Circuit diagram for power supply

1 Power supply (transformer with rectifier or switching power pack)

2 PC, SPS or other suitable control

3 PowerCube Terminal Block

4 PowerCube-Module 1 to n

5 Bus cable from Terminal Block to module

6 Cable for Communication

7 Cable for power supply

A secure and lasting function of the modules is achieved by limiting the cable lengths to the
given maximum. Longer cable connections or use of low quality cables can lead to instable
communication and loss of power.

Communica- Maximum Length

tion interface Baud rate of Bus cable Typical Acknowledge Time
RS232 9600 bit/s 10 m (24 + 10 x n) ms *
19200 bit/s 8m (12 + 5 x n) ms *
38400 bit/s 6m (6 + 2.5 x n) ms *
CAN 250 kBit/s 50 m 0.9 ms
500 kBit/s 30 m 0.6 ms
1000 kBit/s 9m 0.5 ms
Profibus DP 1500 kBit/s 30 m 39 ms *

Table 9: Details for Pos. 5 of Fig. 13

(*) In these applications the acknowledge time depends on the amount of modules (n)
connected to the bus..

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7. Sys
stem inte
egration and initial opera
ation

7.1.. Getting started

s

Dang ger due to collapse

c of the
t unit!
Overrloading the e rotary unit can cause the drive be elt to break. The resultt of
this iss that the brake no lonnger has any y effect on the
t output a and the
custoomer’s attacchment can nnot be heldd!
- Observve specified d loads (see
e »Technica al Data«).
- Secure e area of motion of thee rotary unit to prevent accidental entry.
e

These are
a the 5 ste eps you nee ed to take:
- Check the e system reequirementss (see Chap pter 7.2 pag
ge 22)
- Install the
e communiccation interfface (Hard- and Softwa are)
(see Cha apter 7.3 pagge 23)
- Check electrical con nnection to a power supply and too the commuunication interface
(see Cha apter 6.2 „ele
ectrical con
nnection“ pa
age 16 to 188)
- Install the
e Demo-Sofftware (Pow werCube So oftware) (see Chapter 7
7.4 page 233)
- Check the e correct function of the module with
w the Dem mo-Softwaree (see Softwware man-
ual Powe erCube.pdf)

Further information can be fou

und Software manual „PowerCube“.

7.2.. System requireme

r nts

Before you
y start the installatio
on please ch
heck the sysstem requirrements. Thhe table follo
owing
shows the
t compatiibility of com
mmunicationn interfaces
s and PD op peration sysstems.

PowerC Cube Supp

ported Operatting Systems
s
Communication Available annd supported d
Interface
e Interface booards Win 9x
9 Win NT Win 2K W
Win XP Linux
x QNX
RS232 PC internal x x x x x x
CAN ESD PCI331 1 (PCI-board) x x x x x x
ESD USB-M Mini (USB-interrface) x x x x
Profibus DP Simatic CP55611 x x x x

Table 10

In orderr to use the PowerCube Modules withw the des sired commmunication innterface you u will
need to specify wh hat interface
e you have installed.
i Th
his is done by entering a valid InitS
String

You can
n find the In OM in the Fille Initstring.txt
nitString on the CD-RO

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7.3. Installing the Communication Interface

Please refer to the installation procedure provided by the vendor of the interface board. All nec-
essary manuals are shipped with the SCHUNK CD-Rom. For latest information please refer to
these websites:

manufacturer Website
ESD Electronic GmbH www.esd-electronics.com
Siemens AG www.ad.siemens.de/profibus

Table 11

Every communication board has an own test program shipped with the board. Using these test
programs you can verify the correct installation of the board.

7.4. Installing the PowerCube Software

The PowerCube Software is used for a fast start-up and checking of your PRL-Modules. Instal-
lation Files can be found on the provided CD-ROM.

1. Insert the CD-ROM into the CD- drive of you PC and start „PowerCube.setup“.
2. Follow the instructions on your screen.

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8. Troubleshooting
Event Possible cause Corrective action
Module does not respond / (a) Communication (a) Check connection
does not move incorrectly connected (see Chapter 6.2 page 16)

(b) Cable damaged (b) Check cable for signs of dam-

age.
replace all damaged cables

Module stops abruptly Malfunctions at the bus cable See software manual
(This can be reported by the module with (connection to module was in- „PowerCube““.
the parameter
terrupted)
ERROR_CABLE_BREAK, if the GSD
file included in the delivery has been
integrated.)
Program "FLOAT in Intel". "FLOAT" is a Dos-Command, Copy program to Hard drive, this is
Before the display of the re- so the Filename call is wrong the only way to start it,
sult, the program quits interpreted by Win.

After Flashing of a new Firm- When flashing the Firmware Before flashing a Firmware, create
ware (possibly after some partial values of the configura- a backup copy of the configuration.
time) Error messages appear tion are overwritten,
which are not traceable. e. g. maximum working tem-
perature.
To avoid this, transfer a backup
copy the configuration after
flashing the new Firmware
Table 12

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9. Maintenance and care

9.1. Cleaning

- Clean the PRL (Dry materials only) at regular intervals.

- Remove all dirt and swarf. Dirt and swarf tend to collect in the cavities of the module.

9.2. Disassembly of the module

The module may disassembled and repaired only by SCHUNK, otherwise the warrantys ex-
pires!

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10. Accessories

10.1. Terminal Block

Connecting of signals at the Terminal Block

The Terminal Block has one connection area for input (on the follow picture IN) and one for
output (on the follow picture OUT).
The Terminal Block allows the connecting of an emergency push button for the connected
PowerCube modules
The emergency push button connected to the clamps NIN and NOUT switches off the power
supply VM1 und VM2.
Additional the power supply VM1 ,VMS ,logic UL and emergency-circuit are protected by fuses
F1 to F4.
If the host connected with CAN, the active Terminator can set at the Terminal Block with the
jumper J1.
.

Fig. 14: Terminal Block 1.0

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Signal Type Plug connector PowerCube cable Terminal Block (IN)

Logic voltage 0 VDC - white Î UL-
24 VDC - brown Î UL+
Motor volt- 0 VDC - blue Î VM1-
age1 24 VDC - red Î VM1+
CAN Bus* Lo SUB-D9 socket Pin 2 yellow* Î CANL
Hi SUB-D9 socket Pin 7 green* Î CANH
GND SUB-D9 Socket Pin 3 shield* Î SHD
Profibus DP* A SUB-D9 socket Pin 8 yellow* Î PRBA
B SUB-D9 socket Pin 3 green* Î PRBB
GND SUB-D9 socket Pin 5 shield* Î SHD
RS232* TxD SUB-D9 socket Pin 3 yellow* Î TX
RxD SUB-D9 socket Pin 2 green* Î RX
GND SUB-D9 socket Pin 5 shield*Î RGND

Table 13: Assignment of the Terminal Blocks (see Fig. 14)

* The communication wires are used alternatively.

10.2. Cable

If you need information on the various cables, please contact your SCHUNK-contact person

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10.3. Connection Elements

Fig. 15

Connection Description ID-No.

Pedestal Æ PRL 120 Pedestal PRL 120 5517282
PRL 120 Æ PRL 120 Connection element 120 / 120 5517276
PRL 120 Æ PRL 100 Connection element 120 / 100 5517277
PRL 100 Æ PRL 100 Connection element 100 / 100 5517278
PRL 100 Æ PRL 80 Connection element 100 / 80 5517279
PRL 80 Æ PRL 80 Connection element 80 / 80 5517280
PRL 80 Æ PRL 60 Connection element 80 / 60 5517281
PRL 60 Æ PRL 60 Connection element 60 / 60 5518539
Table 14

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11. Manufacturer's declaration

In accordance with EC Machine Directive 98/37/EC, Appendix II B

Manufacturer /distributor SCHUNK GmbH & CO:KG.

Precision Workholding Systems
Bahnhofstr. 106 - 134
D-74348 Lauffen/ Neckar

We hereby declare that the following

Universal Rotary Actuator of the series PRL

are intended for installation in a machine and must not be put into service until the machine into
which these products are to be installed has been declared to comply with the provisions of EC
Machine Directive 98/37/EC.

Product ID-No. Product ID-No.

PRL 60 0306910 PRL 100 0306920
PRL 80 0306915 PRL 120 0306925

Applied harmonized standards, in particular:

EN ISO 12100-1 and EN ISO 12100-2

Date / Signature: 2008

Position oft he undersigned Manager Development

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12. Contact

GERMANY – HEAD OFFICE AUSTRIA BELGIUM, LUXEMBOURG GREAT BRITAIN, IRELAND

SCHUNK GmbH & Co. KG SCHUNK Intec GmbH SCHUNK Intec N.V./S.A. SCHUNK Intec Ltd.
Spann - und Greiftechnik Holzbauernstr. 20 Bedrijvencentrum Regio Aalst Cromwell Business Centre
Bahnhofstrasse 106 – 134 4050 Traun Industrielaan 4, Zuid III 10 Howard Way,
D – Lauffen / Neckar Tel. +43-7229-65770-0 9320 Aalst-Erembodegem Interchange Park
Tel. +49-7133-103-0 Fax +43-7229-65770-14 Tel. +32-53-853504 Newport Pagnell MK16 9QS
Fax +49-7133-103-2399 [email protected] Fax +32-53-836022 Tel. +44-1908-611127
[email protected] www.at.schunk.com [email protected] Fax +44-1908-615525
www.schunk.com www.be.schunk.com [email protected]
www.gb.schunk.com

CHINA DENMARK FRANCE NETHERLANDS

SCHUNK Precision Machinery SCHUNK Intec A/S SCHUNK Intec SARL SCHUNK Intec B.V.
(Hangzhou) Co.,Ltd. Storhaven 7 Parc d´Activités des Trois Speldenmakerstraat 3d
6, 24th Street, HEDA 7100 Vejle Noyers 15, Avenue James de 5232 BH ‘s-Hertogenbosch
Hangzhou 310018 Tel. +45-43601339 Rothschild Tel. +31-73-6441779
Tel. +86-571-8672-1000 Fax +45-43601492 Ferrières-en-Brie Fax +31-73-6448025
Fax +86-571-8672-8800 [email protected] 77614 Marne-la-Vallée [email protected]
[email protected] www.dk.schunk.com Cedex 3 www.nl.schunk.com
www.cn.schunk.com Tel. +33-1-64 66 38 24
Fax +33-1-64 66 38 23
[email protected]
SCHUNK GmbH & Co.KG www.fr.schunk.com
Shanghai
Representative Office
777 Zhao Jia Bang Road
Pine City Hotel, Room 923
Xuhui District
Shanghai 200032
Tel. +86-21-64433177
Fax +86-21-64431922 INDIA ITALY HUNGARY
[email protected] SCHUNK India Branch Office SCHUNK Intec S.r.l. SCHUNK Intec Kft.
www.cn.schunk.com # 80 B, Yeswanthpur Via Caio Plinio 5 Széchenyi út. 70.
Industrial Suburbs, 22072 Cermenate (CO) 3530 Miskolc
Bangalore 560 022 Tel. +39-031-770185 Tel. +36-46-50900-7
Tel. +91-80-41277361 Fax +39-031-771388 Fax +36-46-50900-6
Fax +91-80-41277363 [email protected] [email protected]
[email protected] www.it.schunk.com www.hu.schunk.com
www.in.schunk.com

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POLAND PORTUGAL SOUTH KOREA SPAIN

SCHUNK Intec Sp.z o.o. Sales Representative SCHUNK Intec Korea Ltd. SCHUNK Intec S.L.
Stara Iwiczna, Victor Marques # 907 Joongang Foneria, 27
ul. Słoneczna 116 A Tel. +34-937-556 020 Induspia 2 Bldg., 08304 Mataró (Barcelona)
05-500 Piaseczno Fax +34-937-908 692 144-5 Sangdaewon-dong Tel. +34-937 556 020
Tel. +48-22-7262500 Mobil +351-963-786 445 Jungwon-gu, Seongnam-si Fax +34-937 908 692
Fax +48-22-7262525 [email protected] Kyunggi-do, 462-722 [email protected]
[email protected] www.pt.schunk.com Tel. +82-31-7376141 www.es.schunk.com
www.pl.schunk.com Fax +82-31-7376142
[email protected]
www.kr.schunk.com

SWEDEN SWITZERLAND, CZECH REPUBLIC MEXICO, VENEZUELA

SCHUNK Intec AB LIECHTENSTEIN SCHUNK Intec s.r.o. SCHUNK Intec S.A. de C.V.
Morabergsvägen 28 SCHUNK Intec AG Ernsta Macha 1 Av. Luis Vega y Monroy # 332
152 42 Södertälje Soodring 19 643 00 Brno Fracc. Plazas de Sol
Tel. +46-8 554 421 00 8134 Adliswil 2 Tel. +420-545 229 095 Santiago de Querétaro,
Fax +46-8 554 421 01 Tel. +41-44-7102171 Fax +420-545 220 508 Qro. 76099
[email protected] Fax +41-44-7102279 [email protected] Tel. +52-442-223-6525
www.se.schunk.com [email protected] www.cz.schunk.com Fax +52-442-223-7665
www.ch.schunk.com [email protected]
www.mx.schunk.com

USA CANADA SLOVAKIA TURKEY

SCHUNK Intec Inc. SCHUNK Intec Corp. SCHUNK Intec s.r.o. SCHUNK Intec
211 Kitty Hawk Drive 190 Britannia Road East, Mostná 62 Bağlama Sistemleri ve
Morrisville, NC 27560 Units 23-24 919 01 Nitra Otomasyon San. ve Tic. Ltd.
Tel. +1-919-572-2705 Mississauga, ON L4Z 1W6 Tel. +421-37-3260610 Şti.
Fax +1-919-572-2818 Tel. +1-905-712-2200 Fax +421-37-6421906 Küçükyali Iş Merkezi
[email protected] Fax +1-905-712-2210 [email protected] Girne Mahallesi
www.us.schunk.com [email protected] www.sk.schunk.com Irmak Sodak, A Blok, No: 9
www.ca.schunk.com 34852 Maltepe, Istanbul
Tel. +90-216-366-2111
Fax +90-216-366-2277
[email protected]
www.tr.schunk.com

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