3-finger centric gripper JGZ

Transcription

1 Translation of the Original operating manual 3-finger centric gripper JGZ Assembly and Operating Manual Superior Clamping and Gripping

2 Imprint Imprint Copyright: This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely supplied to our customers and operators of our products and forms part of the module. This documentation may not be duplicated or made accessible to third parties, in particular competitive companies, without our prior permission. Technical changes: We reserve the right to make alterations for the purpose of technical improvement. Document number: Edition: /05/2013 en SCHUNK GmbH & Co. KG All rights reserved. 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. Kindest Regards Yours SCHUNK GmbH & Co. KG Spann- und Greiftechnik Bahnhofstr D Lauffen/Neckar Tel Fax info@de.schunk.com JGZ en

3 Table of contents Table of contents 1 About this manual Warnings Key words Symbols Variants Applicable documents Basic safety notes Intended use Not intended use Environmental and operating conditions Product safety Protective equipment Demands on the top jaws Constructional changes, attachments, or modifications Personnel qualification Using personal protective equipment Notes on particular risks Variant gripping force maintenance Warranty Scope of delivery Accessories Sensors Technical data Assembly Mechanical connection Mounting of the gripper by using a spring loaded pressure-piece Air connection Sensors Inductive proximity switch IN Magnetic switch MMS 22 / RMS Programmable magnetic switch (MMS-P) Flexible position sensor FPS JGZ en 3

4 Table of contents 8 Troubleshooting Modul does not move? The module does not travel through the entire stroke? Module opens or closes abruptly? The gripping force drops? Module does not achieve the opening and closing times? Maintenance and Care Notes Maintenance and lubrication intervals Lubricants/Lubrication points (basic lubrication) Disassembly of the module Version without gripping force maintenance Maintencance of module with gripping force maintenance "O.D. gripping" (O.D.) Version with gripping force maintenance I.D Servicing and assembling the module Assembly device Screw tightening torques Assembly drawing Seal kit Accessory pack Translation of original declaration of incorporation JGZ en

5 About this manual About this manual This instruction is an integral part of the product and contains important information for a safe and proper assembly, commissioning, operation, maintenance and help for easier trouble shooting. Before using the product, read and note the instructions, especially the chapter "Basic safety notes". Warnings The following key words and symbols are used to highlight dangers Key words DANGER WARNING CAUTION NOTICE Dangers for persons. Non-compliance will inevitably cause irreversible injury or death. Dangers for persons. Non-compliance may cause irreversible injury or death. Dangers for persons. Non-observance may cause minor injuries. Information about avoiding material damage Symbols Warning about a danger point Warning about hand injuries General mandatory sign to prevent material damage JGZ en 5

6 About this manual 1.2 Variants This operating manual applies for the following variations JGZ without gripping force maintenance JGZ with gripping force maintenance device "O.D. gripping" JGZ with gripping force maintenance device "I.D. gripping" 1.3 Applicable documents General terms of business Catalog data sheet of the purchased product Assembly and Operating Manuals of the accessories Calculation program for gripping modules (SSG) The documents listed up here, can be download on our homepage JGZ en

7 Basic safety notes Basic safety notes Intended use The module was designed to grip and to temporarily and securely hold workpieces and objects. The module is intended for installation in a machine/system. The requirements of the applicable guidelines must be observed and complied with. The module may be used only in the context of its defined application parameters ( 6, Page 13). SCHUNK assumes that application in question was tested with the calculation program for gripping modules (SSG). To use this unit as intended, it is also essential to observe the technical data and installation and operation notes in this manual and to comply with the maintenance intervals. 2.2 Not intended use It is not an intended use if the module is used, for example, as a pressing tool, stamping tool, lifting gear, guide for tools, cutting tool, clamping device or a drilling tool. 2.3 Environmental and operating conditions Make sure that the module and the top jaws are a sufficient size for the application. Ensure that the environment is clean. Observe the maintenance and lubrication intervals ( 9.2, Page 34). Make sure that the environment is free from splash water and vapors as well as from abrasion or processing dust. This excludes modules that are designed specially for contaminated environments JGZ en 7

8 Basic safety notes 2.4 Product safety Dangers arise from the module, if: the module is not used in accordance with its intended purpose. the module is not installed or maintained properly. the safety and installation notes are not observed. Avoid any manner of working that may interfere with the function and operational safety of the module. Wear protective equipment. NOTE More information are contained in the relevant chapters Protective equipment Provide protective equipment per EC Machinery Directive Demands on the top jaws Arrange the top jaws such that when the module is depressurized it can reach one of the end positions either open or closed and therefore no residual energy can be released when changing the top jaws Constructional changes, attachments, or modifications Additional drill holes, threads, or attachments that are not offered as accessories by SCHUNK may be attached only with permission of SCHUNK. 2.5 Personnel qualification The assembly, initial commissioning, maintenance, and repair of the module may be performed only by trained specialist personnel. Every person called upon by the operator to work on the module must have read and understood the complete assembly and operating manual, especially the chapter "Basic safety notes" ( 2, Page 7). This applies particularly to personnel only used occasionally, such as maintenance personnel JGZ en

9 Basic safety notes 2.6 Using personal protective equipment When using this product, observe the relevant industrial safety regulations and use the personal protective equipment (PPE) required! Use protective gloves, safety shoes and safety goggles. Observe safe distances. Minimal safety requirements for the use of equipment. 2.7 Notes on particular risks Generally valid: Remove the energy supplies before installation, modification, maintenance, or adjustment work. Make sure, that no residual energy remains in the system. Do not move parts by hand when the energy supply is connected. Do not reach into the open mechanism or the movement area of the module. Perform maintenance, modifications, and additions outside the danger zone. For all work, secure the unit against accidental operation. Take a precautionary approach by maintenance and disassembly. Only specially trained staff should disassemble the module JGZ en 9

10 Basic safety notes WARNING Risk of injury due to squeezing and bumping during movement of the gripper jaws and breaking or loosening of the gripper fingers! WARNING Risk of injury from objects falling and being ejected The danger zone must be surrounded by a safety fence during operation. WARNING While disassembling uncontrollable moves of parts of the gripper possible! Variant gripping force maintenance WARNING Risk of injury from objects falling during energy supply failure Modules with a mechanical gripping force maintenance can, during energy supply failure, still move independently in the direction specified by the mechanical gripping force maintenance. Secure the end positions of the module with SCHUNK SDV-P pressure maintenance valves. WARNING Risk of injury due to residual energy in the gripper because of gripping force maintenance by springs! JGZ en

11 Scope of delivery 3 Warranty The warranty is valid for 24 months from the delivery date to the production facility under the following conditions: Intended use in 1-shift operation Observe the mandatory maintenance and lubrication intervals Observe the environmental and operating conditions Parts touching the work piece and wear parts are not part of the warranty. If necessary, check the application with the calculation program for gripping modules (SSG). 4 Scope of delivery The scope of delivery includes: 3-finger centric gripper JGZ in the ordered model. Accessory pack JGZ en 11

12 Accessories 5 Accessories A wide range of accessories is available for this module. For information about which accessories can be used with the appropriate product version catalog. 5.1 Sensors Overview of the compatible sensors Designation Inductive proximity switches Magnetic switch Magnetic switch Position monitoring Position monitoring Programmable magnetic switch Type IN MMS RMS FPS APS MMS-P Exact type designation of the compatible sensors see catalog If you require further information on sensor operation, contact your SCHUNK contact person or download information from our homepage. For mounting the sensors, mounting kits are partly necessary JGZ en

13 Technical data Technical data Size Pressure medium Min. pressure [bar] Without gripping force maintenance with gripping force maintenance device Max. pressure [bar] Without gripping force maintenance with gripping force maintenance device Compressed air, standard for quality of the compressed air according to ISO : Pressure range for sealed air [bar] Max. permitted weight per top jaw [kg] Noise emission [db(a)] 70 IP rating 40 Size Pressure medium 6 Min. pressure [bar] Without gripping force maintenance with gripping force maintenance device Max. pressure [bar] Without gripping force maintenance with gripping force maintenance device Compressed air, standard for quality of the compressed air according to ISO : Pressure range for sealed air [bar] Max. permitted weight per top jaw [kg] Noise emission [db(a)] 70 IP rating 40 Further technical data can be found in the catalog data sheet. The most recent version applies JGZ en 13

14 Assembly Check the evenness of the bolting surface Assembly Mechanical connection The values relate to the entire bolting surface. Requirements for levelness of the bolting surface (Dimensions in mm) Diameter Permissible unevenness < 100 < 0.02 > 100 < 0.05 NOTE For modules with spring-loaded pressure pieces, the spring-loaded pressure pieces have to be removed before the assembly of the gripper ( 7.2, Page 16). Mounting Fig. 1 Assembly options JGZ en

15 Assembly Mounting material Item Mounting Thread Ø - M4 M6 M8 M8 2 Max. depth of engagement * Centering sleeve Ø4 x 3.95 Ø5 x 4.35 Ø6 x 5.35 Ø8 x 5.35 Ø10 x Thread Ø and max. depth of engagement Top jaws M2.5 6 deep M3 8 deep M4 10 deep M5 10 deep M6 13 deep 5 Thread Ø gripper fastening M3 (3x) M3 (3x) M5 (3x) M6 (3x) M6 (3x) 6 * Ø of the fixing bore for cylindrical pins Ø 2H7 Ø 3H7 Ø 4H7 Ø 5H7 Ø 5H7 Mounting material Item Mounting Thread Ø M10 M10 2 Max. depth of engagement * Centering sleeve Ø10 x 6.65 Ø14 x Thread Ø and max. depth of engagement Top jaws M6 13 deep M10 17 deep 5 Thread Ø gripper fastening M8 (3x) M8 (3x) 6 * Ø of the fixing bore for cylindrical pins Ø 6H7 * contained in accessory pack. Ø 6H7 NOTE When mounting the module from the rear, mount the module using the fixing bores provided. Mount the module using the mounting bores provided. Attach the top jaws using the mounting bores provided JGZ en 15

16 Assembly 7.2 Mounting of the gripper by using a spring loaded pressure-piece CAUTION The spring-loaded pressure piece is under spring tension. The pressure piece can fly out in an uncontrolled fashion and cause contusions. During assembly or disassembly, be especially careful with the springs. When mounting the gripper from the side of the gripper fingers, the assembly of the pressure piece must be done after the mounting of the gripper. Mounting the pressure piece is described in the insert "Installation instructions - pressure piece", which is included in the pressure piece's scope of delivery. 7.3 Air connection NOTICE The maximum permissible mass per jaw is exceeded: Attach flow control couplings to the module. NOTICE Observe the requirements for the air supply. ( 6, Page 13) "Technical Data" JGZ en

17 Assembly Fig. 2 Air connections Thread diamteter of the air connections Item connection JGZ 40 JGZ 50 JGZ 64 JGZ 80 JGZ Thread Ø hose-free direct connection (a = open, b = closed) M3 (2x) M3 (2x) M4 (2x) M5 (2x) M5 (2x) 2 Thread Ø Air purge connection M5 M5 M5 M5 M5 3 Thread Ø Air purge connection (A = open, B = closed) M3 (2x) M5 (2x) M5 (2x) M5 (2x) G 1/8" (2x) Thread diamteter of the air connections Item Connection JGZ 125 JGZ Thread Ø Hose-free direct connection (a = open, b = closed) M5 (2x) M5 (2x) 2 Thread Ø Air purge connection M5 M5 3 Thread Ø Air purge connection (A = open, B = closed) G 1/8" (2x) G 1/8" (2x) NOTE Observe the requirements for the air purge (from 0.5 up to max. 1 bar). Only open the air connections required. Seal air connections not required using the locking screws from the enclosed pack. For hose-free direct connections use the two O-rings from the enclosed pack. Further information on the hose-free direct connection contains the catalog data sheet JGZ en 17

18 Assembly 7.4 Sensors The module is prepared for a number of sensors. Other sensors can be used with a mounting kit. If you require further information on sensor operation, contact your SCHUNK contact person or download information from our homepage. Technical data for the sensors can be found in the data sheets (included in the scope of delivery) Inductive proximity switch IN 80 Fig. 3 Connection example for IN 80 1 brown 2 black 3 blue The inductive proximity switches used are equipped with reverse polarity protection and are short-circuit-proof. Make sure that you handle the proximity switches properly: Do not pull on the cable. Do not allow the sensor to dangle from the cable. Do not overtighten the mounting screw or mounting clip. Please adhere to a permitted warpage of the cable. ( catalog) Avoid contact of the proximity switches with hard objects and with chemicals, in particular nitric acid, chromic acid and sulphuric acid JGZ en

19 Assembly The inductive proximity switches are electronic components, which can react sensitively to high-frequency interference or electromagnetic fields. Check to make sure that the cable is fastened and installed correctly. Provide for sufficient clearance to sources of highfrequency interference and their supply cables. Parallel switching of several sensor outputs of the same type (npn, pnp) is permissible, but does not increase the permissible load current. Note that the leakage current of the individual sensors (ca. 2 ma) is cumulative. NOTICE Blockade of the gripper after setting or replacing of the switching cam! The switching cam can be tilt in the guide, if it was not fixed exactly in the base jaw. Apply the switching cam in the direction of the base jaw, so that the cam does not contact the housing of the gripper. Installation of the proximity switch SCHUNK previously sets the switching points for the positions "open" and "closed". Fig. 4 Gripper open: 1 Insert proximity switch 1 (3) into the bracket (1) as far as it will go. 2 Fasten the proximity switch by tightening the screw (4). 3 Move the gripper to the "Open" position and test its function JGZ en 19

20 Assembly Gripper closed: 1 Insert proximity switch 2 (2) into the bracket (1) as far as it will go. 2 Fasten the proximity switch by tightening the screw (4). 3 Move the gripper to the "Closed" position and test its function. Part gripped (O.D. gripping): 1 Insert proximity switch 2 (2) into the bracket (1) as far as it will go. 2 Fasten the proximity switch by tightening the screw (4). 3 Clamp the part to be gripped. 4 Undo the screw (6). 5 Turn the screw (7) to push the position of the control cam (5). The control cam (5) has to be positioned far enough outside that the proximity switch no longer responds. 6 Move the control cam (5) back towards the inside until the proximity switch begins to switch. 7 Re-tighten the screw (6) to fix the switching point. 8 Open and close the gripper to test its function. Part gripped (I.D. gripping): 1 Insert proximity switch 1 (3) into the bracket (1) as far as it will go. 2 Fasten the proximity switch by tightening the screw (4). 3 Clamp the part to be gripped. 4 Undo the screw (6). 5 Turn the screw (7) to push the position of the control cam (5). The control cam (5) has to be positioned far enough inside that the proximity switch no longer responds. 6 Move the control cam (5) back towards the outside until the proximity switch begins to switch. 7 Re-tighten the screw (6) to fix the switching point. 8 Close and close the gripper to test its function JGZ en

21 Assembly Magnetic switch MMS 22 / RMS 22 Fig. 5 NOTICE Sensor can be damaged during assembly. Do not exceed the maximum tightening torque of 10 Ncm for the set screws. NOTE Ferromagnetic material changes the switching positions of the sensor. For example: Adapter plate made of ordinary steel. At ferromagnetic adapter plates: The module must firstly be mounted on the adapter plate Then, the positions of the magnetic switch have to be set The RMS sensors have a larger hysteresis than the MMS sensors. This means that short gripper strokes may not be able to be monitored with the RMS sensors JGZ en 21

22 Assembly Positioning of the magnetic switch Fig. 6 Positioning the magnetic switch Gripper open: 1 Set the gripper to the "Open" position. 2 Push the magnetic switch 1 (1) into the groove (4) until it stops at the housing. 3 Pull the magnetic switch 1 (1) back again slowly until it switches. 4 Tighten the set-screw (3) to clamp the magnetic switch 1 (1) in this position in the groove (4). 5 Close and close the gripper to test its function. Gripper closed: 1 Set the gripper to the "Closed" position. 2 Push the magnetic switch 2 (2) into the groove (4) towards the middle of the gripper until it switches. 3 Tighten the set-screw (3) to clamp the magnetic switch 2 (2) in this position in the groove (4). 4 Open and close the gripper to test its function JGZ en

23 Assembly Part gripped (O.D. gripping): 1 Clamp the part to be gripped. 2 Push the magnetic switch 2 (2) into the groove (4) towards the middle of the gripper until it switches. 3 Tighten the set-screw (3) to clamp the magnetic switch 2 (2) in this position in the groove (4). 4 Open and close the gripper to test its function. Part gripped (I.D. gripping): 1 Clamp the part to be gripped. 2 Push the magnetic switch 1 (1) into the groove (4) until it stops at the housing. 3 Pull the magnetic switch 1 (1) back again slowly until it switches. 4 Tighten the set-screw (3) to clamp the magnetic switch 1 (1) in this position in the groove (4). 5 Close and close the gripper to test its function JGZ en 23

24 Assembly Programmable magnetic switch (MMS-P) 2.95 M L = L = Fig. 7 Magnetic switch (MMS-P 22) 1 Mounting screw 4 Teach-button 2 Center sensor elements 5 LED display 3 LED display 6 Rips for cable tires Fig. 8 Connection diagram PNP-4 conductor (MMS-P 22) Types available for order (see catalog): MMS-P 22-S-M8-PNP MMSK-P 22-S-PNP V2-M8-4-2XM8-3 The MMSK-P 22-S-PNP features a cable with open strands so that it can be connected by means of terminal contacts. The V2-M8-4-2XM8-3 distributor is used to convert the 4-pin connector plug of the MMS-P 22-S-M8-PNP sensor to two standard M8 plugs with 3 pins each JGZ en

25 Assembly Mounting of the sensor NOTICE Sensor can be damaged during assembly. Do not exceed the maximum tightening torque of 10 Ncm for the set screws. NOTE Ferromagnetic material changes the switching positions of the sensor. For example: Adapter plate made of ordinary steel. At ferromagnetic adapter plates: The module must firstly be mounted on the adapter plate Then, the positions of the magnetic switch have to be set Fig. 9 1 Slide or turn in the magnetic switch (1) into the groove until it bears against the stop (2) (if available). 2 If there is no terminal stop, then slide the magnetic switch according to dimension l2 (bottom edge of gripper up to front side of sensor) or according to dimension l1 (bottom edge of gripper up to double arrow on sensor) and then clamp with the mounting screw JGZ en 25

26 Assembly Type Dimension l 1 Dimension l 2 Type Dimension l 1 Dimension l 2 JGZ JGZ JGZ 40-AS JGZ 100-AS JGZ 40-IS JGZ 100-IS JGZ JGZ JGZ 50-AS JGZ 125-AS JGZ 50-IS JGZ 125-IS JGZ JGZ JGZ 64-AS JGZ 160-AS JGZ 64-IS JGZ 160-IS JGZ JGZ 80-AS JGZ 80-IS Fig To relieve the cable, the electronics have to be fixed in place using cable ties (7). There are ribs (6) in place on the electronics for mounting purposes. 6 Fig Turn in the sensor (1-4). OR Push the sensor axially into the slot until it contacts the stop (5) JGZ en

27 Assembly 3 Fix the sensor with an Allen wrench (6). 1 Press the "Teach" button (4) for 2 seconds. After 2 seconds, LED 1 (3) flashes. 2 Move the gripper to position 1 (e.g. "0 position"). 3 Briefly press the "Teach" button (4). LED 1 (3) lights up and LED 2 (5) flashes. 4 Manually move the gripper to position 2 (e.g. "-2mm"). LED 1 (3) should go out as soon as switching point 1 is left Briefly press the "Teach" button (4). LED 2 (5) lights up. The switching points are set. Adjusting the hysteresis The hysteresis to both switching points will be adjusted automatically corresponding to the characteristics of the magnetic field. The user can set the switching and trigging points of each position a little bit closer than for the automatic mode. The trigging point is closer to the switching point. At the same time the susceptibility to trouble and damage increases. In the mode of the lowest hysteresis, an error signal (such as jitter or untimely switch off) can be avoided, if the sensor is protected against all types of disturbances (i.e. by shielding). Frequent types of disturbances are change in temperature and electro-magnetic influences. Within the closest fine-teach mode, SCHUNK cannot guarantee EMC-compatibility any more. The hysteresis adjustment is used for the manual adjustment of the switching points (if necessary). In case that the hysteresis automatically determined by the sensor should be too high or too low after the adjustment of the switching points, you may correct the value as follows. The sensor avoids a too small hysteresis during hysteresis adjustment JGZ en 27

28 Assembly The smallest detectable difference in stroke is defined in the following table: The smallest detectable difference in stroke based on the nominal stroke For Grippers with X mm nominal stroke per jaw X 5mm X = 5 to 10mm X 10mm Min. query range per jaw / min. queried stroke difference per jaw 30% of the nominal stroke per jaw 20% of the nominal stroke per jaw 10% of the nominal stroke per jaw Press the "Teach" button (4) for 5 seconds. LED 1 (3) flashes from 2nd to 5th second. LED 1 goes off after 5 sec. 2 Release the "Teach" button. 3 Move the gripper to the "switch-off point for switching point 1" position. 4 Briefly press the "Teach" button (4). LED 1 (3) flashes twice. 5 Move the gripper to the "switch-off point for switching point 2" position. 6 Briefly press the "Teach" button (4). LED 2 (5) flashes twice. The assembly of the MMS-P sensor is completed JGZ en

29 Assembly Flexible position sensor FPS Fig. 12 To use the flexible position sensor FPS-M8, the grippers have to be retrofitted with a special mounting kit. This mounting kit is available from SCHUNK for the models below (see catalog): JGZ 64 JGZ 80 JGZ 100 JGZ 125 JGZ JGZ en 29

30 Assembly Monting of the attachment kit Fig Remove the screw (38) and the control cam (21) from one side of the gripper. 2 Push the control cam of the mounting kit (21) with the chamfered side in front into the base jaw (2). 3 Tighten the control cam with the screw of the mounting kit (38). 4 Push the spacer (26) and the flexible FPS-M 8 (18) position sensor through the bracket (17) into the provided bore hole of the housing (1) as far as it will go. 5 Clamp the sensor in this position by tightening the screw (19). The adjustment of the sensor is described in the operating manual for the sensor JGZ en

31 Troubleshooting Troubleshooting Modul does not move? Possible cause Base jaws jam in housing, possible cause: bolting surface not sufficiently level. Corrective action Check the levelness of the bolting surface. ( 7.1, Page 14) Loosen the mounting screws for the gripper and actuate the gripper again. Pressure drops below minimum. Check the air supply. ( 7.3, Page 16) Compressed air lines switched Proximity switch defective or set incorrect. Unused air connections not closed. Component is broken, e.g. through overloading Check compressed air lines. Repair the proximity switch. Close the unused air connections. Replace component or send the module with a repair order to SCHUNK. Ensure that the module was only used within its defined application parameters.if necessary, check the application with the calculation program for gripping modules (SSG). 8.2 The module does not travel through the entire stroke? Possible cause Dirt deposits between the cover and the piston Dirt deposits between the base jaws and the guide Pressure drops below minimum. Mounting surface is not even enough Component is broken, e.g. through overloading Corrective action Remove the cover, clean the module and relubricate it ( 9, Page 34) Disassemble and clean module Check the air supply. ( 7.3, Page 16) Check the levelness of the bolting surface. ( 7.1, Page 14) Send the module to SCHUNK with a repair order or disassemble module JGZ en 31

32 Troubleshooting 8.3 Module opens or closes abruptly? Possible cause Too little grease in the mechanical guiding areas of the module Compressed air lines are blocked Mounting surface is not even enough Load too high Corrective action Clean the module and relubricate it ( 9, Page 34) Check the compressed air lines for crushing or damage. Check the levelness of the bolting surface. Review permissible weight and length of the jaws ( 7.1, Page 14) 8.4 The gripping force drops? Possible cause Compressed air can escape Too much grease in the mechanical motion spaces of the module Pressure drops below minimum. Corrective action Check seals, if necessayy disassemble module an replace seals Clean the module and relubricate it ( 9, Page 34) Check the air supply. ( 7.3, Page 16) JGZ en

33 Troubleshooting 8.5 Module does not achieve the opening and closing times? Possible cause Compressed air lines are not installed optimally Load too high Corrective action If present: Open the flow control couplings on the module to the maximum that the movement of the jaws occurs without bouncing and hitting. Check compressed air lines. Inner diameter of the compressed air lines are sufficiently large relative to the compressed air consumption Compressed air lines between module and control valve shoud be kept as short as possible Flow rate of valve is sufficiently large relative to the compressed air consumption If, despite of optimal air connections, the opening and closing times are not achieved according to the catalog, we recommend the use of quick exhaust valves direct at the module Review permissible weight and length of the jaws JGZ en 33

34 Maintenance and Care Maintenance and Care Notes Original spare parts When replacing damaged parts (wearing parts/spare parts) only use SCHUNK original spares. Replacement of housing and base jaws The base jaws and the guides in the housing are matched to each other. To have these parts replaced, send the complete module along with a repair order to SCHUNK. Maintenance of module with gripping force maintenance "I.D. gripping" (I.D.) and "A.D. gripping" (A.D.) The pistons have to be aligned using an assembly device. Therefore we recommend to have the module serviced and the seals replaced by SCHUNK. If this is not possible, you can carry out the maintenance and replace the seals yourself. 9.2 Maintenance and lubrication intervals NOTICE At ambient tempertature above 60 C the lubricans cure out faster Interval decrease accordingly. Size Interval [Mio. cycles] JGZ en

35 Maintenance and Care 9.3 Lubricants/Lubrication points (basic lubrication) We recommend the lubricants listed. During maintenance, treat all greased areas with lubricant. Thinly apply lubricant with a lint-free cloth. Lubrication point Lubricant Metallic sliding surfaces microgleit GP 360 All seals Renolit HLT 2 Bores on the piston Renolit HLT 2 In addition to the described maintenance, the guides of the gripper can be re-lubricated as needed by means of lubricating nipples. The lubricating nipples can be used instead of the air purge connection. Remove the two set screws for the air purge connection and replace them with two conical grease nipples JGZ en 35

36 Maintenance and Care 9.4 Disassembly of the module Version without gripping force maintenance Position of the position numbers ( 10, Page 45) WARNING Risk of injury when the machine/system moves unexpectedly! Remove the energy supplies. Make sure that no residual energy remains in the system. 1 Remove compressed air line. 2 Unfasten the set screws (74) and remove the pressure piece. 3 Remove the cover (5). 4 Mark the installation positions of the piston (3) and the base jaws (50) on the housing (50). 5 Unscrew and remove the screws (41) and remove the cover (4). 6 Mark the installation position between the cylinder piston (6) and the housing (50). 7 Unscrew screw (40) and remove cylinder piston (6) from the housing (50). 8 Push the piston (3) upwards out of the housing (50). 9 Pull the base jaws (50) out of the housing (50) JGZ en

37 Maintenance and Care Maintencance of module with gripping force maintenance "O.D. gripping" (O.D.) Position of the position numbers ( 10, Page 45) WARNING Risk of injury when the machine/system moves unexpectedly! Remove the energy supplies. Make sure that no residual energy remains in the system. WARNING Risk of injury due to spring forces! The lid is under spring tension. Carefully disassemble the module. WARNING Risk of injury due to spring forces! The cylinder piston is under spring tension. Carefully disassemble the module. 1 Remove compressed air lines. 2 Remove the cover (5). 3 Mark the installation positions of the piston (3) and the base jaws (50) on the housing (50). 4 WARNING! Risk of injury due to spring forces! The lid is under spring tension. Carefully disassemble the module. Clamp the module between the base jaws (50) and the cover (9) in the vise so that it is still possible to remove the 8 screws (46). 5 Unscrew screws (46). 6 Open the vise carefully and remove the cover (9). 7 Remove the centering pins (55) JGZ en 37

38 Maintenance and Care 8 WARNING! Risk of injury due to spring forces! The cylinder piston is under spring tension. Carefully disassemble the module. Mark the installation position between the cylinder piston (6) and the housing (50). 9 Clamp the module between base jaws (50) and the cylinder piston (10). 10 Unfasten and remove the screws (45). 11 Carefully open the vise until the compression spring (25) has no more tension. 12 Remove the cylinder piston (10) and compression spring (25) from the housing (50). 13 Push the piston (3) upwards out of the housing (1). 14 Pull the base jaws (50) out of the housing (50) JGZ en

39 Maintenance and Care Version with gripping force maintenance I.D. Position of the position numbers ( 10, Page 45) WARNING Risk of injury when the machine/system moves unexpectedly! Remove the energy supplies. Make sure that no residual energy remains in the system. WARNING Risk of injury due to spring forces! The lid is under spring tension. Carefully disassemble the module. 1 Remove compressed air lines. 2 Remove the cover (5). 3 Mark the installation positions of the piston (3) and the base jaws (50) on the housing (50). 4 WARNING! Risk of injury due to spring forces! The lid is under spring tension. Carefully disassemble the module. Clamp the module between the base jaws (50) and the cover (9) in the vise so that it is still possible to remove the 8 screws (46). 5 Unfasten and remove the screws (46). 6 Carefully open the vise until the compression spring (25) has no more tension. 7 Remove the cover (9) and the compression spring (25). 8 Remove the centering pins (55). 9 Mark the installation position between the cylinder piston (6) and the housing (50). 10 Unscrew screw (40) and remove cylinder piston (6) from the housing (50). 11 Push the piston (3) upwards out of the housing (50). 12 Pull the base jaws (50) out of the housing (50) JGZ en 39

40 Maintenance and Care 9.5 Maintenance Servicing and assembling the module Clean all parts thoroughly and check for damage and wear. Treat all grease areas with lubricant. ( 9.3, Page 35) Oil or grease bare outside steel parts. Replace all wearing parts / seals. Position of the wearing parts ( 10, Page 45) Sealing kit ( 11, Page 46) Assembly Assembly takes place in the opposite order to disassembly. Observe the following: Unless otherwise specified, secure all screws and nuts with Loctite no. 243 and tighten with the appropriate tightening torque.( 9.5.2, Page 44) In the variant with gripping force maintenance "O.D. gripping" (AS), sizes , mount the cylinder piston by means of a mounting device; for frame sizes , mount the cylinder piston by means of two mounting devices ( 9.5.1, Page 41) JGZ en

41 Maintenance and Care Assembly of sizes with one assembly device Assembly device Position of the position numbers ( 10, Page 45) Fig. 14 Installing cylinder pistons with a assembly device 1 Item Type JGZ 40 JGZ 50 JGZ 64 JGZ 80 JGZ Device 1 x x x x x 72 Cylindrical pin Ø2H7 (2x) 73 Screw ISO 4762 M3x20 Ø3H7 (2x) Ø4H7 (2x) Ø5H7 (2x) Ø5H7 (2x) M3x25 M5x30 M6x35 M6x40 Drawings and dimensions of the assembly device ( , Page 43). 1 Insert the cylindrical pin (72) into the drill hole provided. 2 Install assembly device 1 (70) with the screws (73) and grease the centering bore with Renolit HTL 2. 3 CAUTION, do not tilt: Place the cylinder piston (10) on the centering bore and evenly push it into the bore hole by hand so that the cylinder piston (10) pushes the spring. 4 Insert the screw (45) and screw it into the piston (3) with light pressure ( 9.5.2, Page 44). 5 Remove the assembly device (70). 6 Insert the seal (32) and install the cover (9) JGZ en 41

42 Maintenance and Care Assembly of sizes with two assembly devices Fig. 15 Installing cylinder pistons with a assembly devices 1 and 2 Item Type JGZ 125 JGZ Device 1 x x 71 Device 2 x x 72 Cylindrical pin Ø6H7 (2x) Ø6H7 (2x) 73 Screw, ISO 4762 M8x50 M8x60 74 Screw, ISO 4762 M8x40 M8x45 Drawings and dimensions of the assembly device ( , Page 43). 1 Insert the cylindrical pin (72) into the drill hole provided. 2 Install assembly device 1 (70) with the screws (73) and grease the centering bore with Renolit HTL 2. 3 Insert the compression spring (25) in the housing. 4 CAUTION, do not tilt: Place the cylinder piston (10) on the centering bore and evenly push it into the bore hole by hand so that the cylinder piston (10) pushes the spring. 5 Insert the screw (45) into the cylinder piston (10). 6 Apply assembly device 2 (71) and evenly screw it to device 1 (70) with the screws (74). 7 Screw the screw (45) into the piston (3) ( 9.5.2, Page 44). 8 Remove the assembly devices (70 and 71). 9 Insert the seals (32 and 34) and install the cover (9) JGZ en

43 Maintenance and Care Assembly device Fig. 16 Assembly devices 1 Assembly device 1 2 Assembly device 2 Assembly device 1 - dimensions in mm Size Ø A B Ø d 2 H Ø d 3 H d 4 M3 M3 M5 M6 M6 l 1 ± l l l l JGZ en 43

44 Maintenance and Care Assembly device 2 (with assembly device 1) - dimensions in mm Size Ø A B Ø C D Ø d 1 f Ø d 2 H Ø d 3 H7 6 6 d 4 M8 M8 d 5 M8 M8 Ø d Ø d l 1 ± l l l l l l l l l Screw tightening torques Position of the position numbers ( 10, Page 45) Item JGZ 40 JGZ 50 JGZ 64 JGZ 80 JGZ 100 JGZ 125 JGZ Nm 5.9 Nm 12 Nm 12 Nm 20 Nm 49.0 Nm 96.0 Nm Nm 1.2 Nm 1.2 Nm 1.3 Nm 1.3 Nm 2.9 Nm 8.5 Nm Nm 10.0 Nm 14 Nm 14 Nm 29 Nm 57.5 Nm 96.0 Nm Nm 1.2 Nm 1.2 Nm 1.3 Nm 2.9 Nm 6.0 Nm 10.0 Nm JGZ en

45 Accessory pack 10 Assembly drawing The following figure is an example image. It serves for illustration and assignment of the spare parts. Variations are possible depending on size and variant. Fig. 17 Assembly of the variants O.D. gripping (AS) / I.D. gripping (IS) / without maintenance of gripping force unit * Wearing part, replace during maintenance. Included in the seal kit. Seal kit can only be ordered completely. ** Positionen sind aufeinander abgestimmt und können nur zusammen bestellt werden. *** from size 125 **** from size JGZ en 45

46 Accessory pack 11 Seal kit ID.-No. of the seal kit Sealing kit for ID number JGZ JGZ JGZ JGZ JGZ JGZ JGZ Contents of the seal kit ( 10, Page 45). 12 Accessory pack Content of the accessories pack: 6 x Centering sleeves for mounting 2 x O-ring for hose-free direct connection 2 x screw plug for hose connection 2 x cylindrical pin for mounting ID.-No. of the accessory pack Accessory pack for ID number JGZ JGZ JGZ JGZ JGZ JGZ JGZ JGZ en

47 Translation of original declaration of incorporation 13 Translation of original declaration of incorporation In terms of the EC Machinery Directive 2006/42/EG, Annex II, Part B Manufacturer/ Distributor SCHUNK GmbH & Co. KG Spann- und Greiftechnik Bahnhofstr D Lauffen/Neckar We hereby declare that the following product: Product designation: ID number finger centric gripper / JGZ / pneumatic meets the applicable basic requirements of the Machinery Directive (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: EN 62079:2001 Safety of machinery - General principles for design - Risk assessment and risk reduction Preparation of instructions - Structuring, content and presentation The manufacturer 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. Robert Leuthner, Address: see address of the manufacturer Lauffen/Neckar, May 2013 Ralf Winkler; Business Unit Manager R & D Mechanical Gripping Systems JGZ en 47

48 JGZ en