Operation
24 04.00 | SVH | Assembly and Operating Manual | en | 389734
6 Operation
During operation, the following considerations generally apply:
l
If the product is mounted on an external device (e.g. external
robot arm), the operator is responsible for ensuring the
operational safety of this equipment.
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The fingers (excluding the thumb) can be carefully moved
manually in the event of a failure of the power supply. This
will not damage the drive. The thumb drives are self-locking
in a de-energized state and cannot be manually moved.
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It is possible for the fingers to collide if controlled accordingly.
Collisions will not cause damage, but the movement will be
interrupted.
The following information applies to the development of your
own programs to control the product.
Note: English is the standard language in the field of software
development. For this reason, English-language terms have been
used in the following:
6.1 Homing
Homing is required after each startup of the SVH due to the
relative angle measurement of the joints.
For homing, SCHUNK recommends using a software end stop just
before the mechanical end stop.
The table below contains the following values:
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direction of homing
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recommended software end stop
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total steps of each movement
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recommended power limit
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recommended movement speed
JOINT HOMING
DIRECTION
DISTANCE
FROM HARD
STOP [°]
RANGE OF
MOVEMENT
[°]
HOMING
CURRENT
[mA]
HOMING
SPEED
THUMB
FLEXION
Stretch 5,000 170,000 50 100 rpm
THUMB
OPPOSITION
Stretch 5,000 56,000 100 100 rpm
SPREAD Close 2,000 25,000 500 100 rpm
INDEX FINGER
PROXI
Stretch 2,000 40,000 200 500 rpm
INDEX FINGER
DISTAL
Stretch 2,000 45,000 100 500 rpm
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