Pneumatic Radial gripper PRG

Transcription

1 Translation of the original manual Pneumatic Radial gripper PRG 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 product. 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: /07/2016 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 PRG 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 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 Air connection Gripper finger Sensors Inductive proximity switch IN Inductive proximity switch IN Magnetic switch MMS 22 / RMS Programmable magnetic switch (MMS-P) Troubleshooting Module does not move? The module does not travel through the entire stroke? Module opens or closes abruptly? Module opens with heavy impacts in the end position The gripping force is dropping PRG en 3

4 Table of contents 8.6 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 PRG Version without gripping force maintenance Variant with gripping force maintenance O.D. gripping Disassembly of the module PRG Version without gripping force maintenance Variant with gripping force maintenance O.D. gripping Servicing and assembling the module Screw tightening torques Assembly drawing Assembly drawing PRG Assembly drawing PRG Seal kit Accessories kit Mounting kit for proximity switch Translation of original declaration of incorporation PRG 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 hot surfaces Warning about dangerous electrical voltage Warning about hand injuries General mandatory sign to prevent material damage PRG en 5

6 About this manual 1.2 Variants This operating manual applies to the following variations: PRG without gripping force maintenance PRG with gripping force maintenance O.D. gripping PRG High-temperature version (HT) 1.3 Applicable documents General terms of business Data Sheet of the product Assembly and Operating manuals of the accessories The documents listed here, can be downloaded on our homepage PRG en

7 Basic safety notes Basic safety notes Intended use The product is designed exclusively for gripping and temporarily holding workpieces or objects. The product is intended for installation in a machine/system. The requirements of the applicable guidelines must be observed and complied with. The product may be used only in the context of its defined application parameters ( 6, Page 12). The product is designed for industrial use. 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 intended use if the product is used, for example, as a pressing tool, stamping tool, lifting gear, guide for tools, cutting tool, clamping device or a drilling tool. Any utilization that exceeds or differs from the appropriate use is regarded as misuse. 2.3 Environmental and operating conditions Required ambient conditions and operating conditions Incorrect ambient and operating conditions can make the product unsafe, leading to the risk of serious injuries, considerable material damage and/or a significant reduction to the product's life span. Make sure that the product and the top jaws are a sufficient size for the application. Observe maintenance and lubrication intervals, ( 9.2, Page 33). Make sure that the environment is free from splash water and vapors as well as from abrasion or processing dust. Exceptions are products that are designed especially for contaminated environments PRG en 7

8 Basic safety notes 2.4 Product safety Dangers arise from the product, if: the product is not used in accordance with its intended purpose. the product 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 product. Wear protective equipment. NOTE More information is contained in the relevant chapters. 2.5 Personnel qualification Inadequate qualifications of the personnel If the personnel working with the product is not sufficiently qualified, the result may be serious injuries and significant property damage. All work may only be performed by qualified personnel. Before working with the product, the personnel must have read and understood the complete assembly and operating manual. Observe the national safety regulations and rules and general safety instructions. Trained electrician Pneumatics specialist Hydraulic specialist Qualified personnel The following personal qualifications are necessary for the various activities related to the product: Due to their technical training, knowledge and experience, trained electricians are able to work on electrical systems, recognize and avoid possible dangers and know the relevant standards and regulations. Pneumatics specialists have been trained for this particular area of responsibility and know the relevant standards and regulations. Hydraulic specialists have been trained for this particular area of responsibility and knows the relevant standards and regulations. Due to its technical training, knowledge and experience, qualified personnel is able to perform the delegated tasks, recognize and avoid possible dangers and knows the relevant standards and regulations PRG en

9 Basic safety notes Instructed person Service personnel of the manufacturer 2.6 Instructed persons were instructed by the operator about the delegated tasks and possible dangers due to improper behaviour. Due to its technical training, knowledge and experience, service personnel of the manufacturer is able to perform the delegated tasks and to recognize and avoid possible dangers. 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. 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 of 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 PRG 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 Products 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 product with SCHUNK SDV-P pressure maintenance valves PRG en

11 Accessories 3 Warranty If the product is used as intended, the warranty is valid for 24 months from the ex-works delivery date 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. 4 Scope of delivery The scope of delivery includes Pneumatic Radial gripper PRG in the ordered model Accessory pack Accessories The following accessories, which must be ordered separately, are required for the product: Sensors A wide range of accessories are available for this product For information about which accessories can be used with the appropriate product version see catalog. Sensors Overview of the compatible sensors Designation Inductive proximity switches Magnetic switch Magnetic switch Programmable magnetic switch Type IN MMS RMS MMS-P Exact type designation of the compatible sensors see catalog. If you require information on sensor operation, contact your SCHUNK contact person or download information from our homepage PRG en 11

12 Technical data 6 Technical data Mechanical operating data Ambient temperature [ C] min. max. Ambient temperature [ C] for High-temperature version (HT) min. max IP rating 20 Noise emission [db(a)] 70 Operating data for compressed air connection Pressure medium Druckluft, Druckluftqualität nach ISO : 7:4:4 Min. pressure [bar] without gripping force maintenance with gripping force maintenance Max. pressure [bar] without gripping force maintenance with gripping force maintenance More technical data are included in the catalog data sheet. Whichever is the latest version PRG en

13 Assembly Levelness of the mounting surface Assembly Mechanical connection The values apply to the whole mounting surface to which the product is mounted. Requirements for levelness of the mounting surface (Dimensions in mm) Diameter Permissible unevenness < 100 < 0.02 > 100 < 0.05 Mounting The module can be mounted from the front, from the rear, and from below: Assembly options Maximal screw-in depth of the fastening screws provided by the customer PRG en 13

14 Assembly Mounting material Item Mounting Module rear mounting 2 Module rear mounting 3 Module front mounting 4 Gripper fingers M3 / 6 deep 38 * Centring sleeves (rear) 39 * Centring sleeves (below and rear) 40 * Centring sleeves (below) M3 / 7deep M4 / 12 deep M3 / 10 deep M4 / 12 deep Ø5 / 4.35 M5 / 12 deep M5 / 15 deep M6 / 16 deep M5 / 18 deep M8 / 20 deep M8 / 20 deep M8 / 22 deep M8 / 22 deep M12 / 24 deep M2.5 M3 M4 M6 M10 M4 / 7 deep Ø6 / 5.35 M5 / 8 deep Ø8 / 5.35 Ø5 / 4.35 Ø6 / 5.35 *Included in the enclosed pack. M6 / 10 deep Ø10 / 6.65 Ø8 / 5.35 M8 / 13 deep Ø12 / 6.65 Ø8 / 5.35 M10 / 16 deep - Ø10 / 6.65 M12 / 20 deep M16 / 25 deep Ø16 / 8.6 Ø22 / 13.6 Ø12 / 6.65 Ø16 / Ø12 / 6.65 NOTE For mounting from the rear or from below fix the module on the proposed centring sleeves (39/40). Mount the module using the mounting bores. Mount the Gripper finger using the mounting bores PRG en

15 Assembly 7.2 Air connection NOTICE Damage to the gripper is possible! If the maximum permissible finger weight or the permissible mass moment of inertia of the fingers is exceeded, the gripper can be damaged. A jaw movement always has to be without jerks and bounce. You must therefore implement sufficient reduction and/or damping. Observe the diagrams and information in the catalog data sheet. NOTICE In case of exceeding the maximum permissible weight per gripper finger: Attach additional throttle screw connections to the module. Adjust the opening and closing times depending on the mass moment of inertia of the gripper finger. (See swivel time diagram in the catalog) The swivel time can be set optimally by using adjustable throttles. NOTICE Throttling is also necessary if the direct connections "a" and "b" are used: Attach throttle screw connections (12) to the connections of the adapter plates. The direct connections a and b (/6/) at the bottom are there twice. Only one of them may be pressurized, since otherwise the desired throttling effect is not reached. NOTE Already pre-mounted fixed throttle screw connections may not be removed PRG en 15

16 Assembly NOTICE Observe the requirements for the air supply ( 6, Page 12). Air connections Thread diameter of the air connections Item Connection 1 Hose connection (A = OPEN, B = CLOSE) 2 Hose-free direct connection at the base (a = OPEN, b = CLOSE) 3 Hose-free direct connection at the side (a = OPEN, b = CLOSE) PRG 26 PRG 34 PRG 42 PRG 52 PRG 64 PRG 80 PRG 100 M3 (2x) M5 (2x) G 1/8" (2x) M2.5 (2x) M2.5 (2x) M3 (2x) M3 (2x) M5 (2x) M5 (2x) M3 (2x) M3 (2x) PRG 125 M5 (2x) M5 (2x) Open only the air connections that are needed. Close unused main air connections using the screw plugs from the enclosed pack. For a hose-free direction connection, use the O-rings from the enclosed pack. In case of exceeding the maximum permissible finger weight, throttling is absolutely necessary in order to guarantee a jaw movement without bumping and bouncing. The service life can be decreased PRG en

17 Assembly 7.3 Gripper finger The gripper fingers can only be mounted from the outside at the base jaws. NOTICE Damaging of the gripper, if the gripper fingers collide with the gripper! In order to avoid a collision between gripper finger and housing, during opening and closing the gripper fingers, the dimensions a to D must be strictly adhered to Design example of an gripper finger PRG Amin[mm] Bmax[mm] Cmax[mm] Dmax[mm] PRG 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 Types that can be ordered ( catalog): 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 bend radius 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 PRG 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 (approx. 2 ma) is cumulative. Mounting kit To use the inductive sensor, the gripper has to be retrofitted with a special mounting kit. This mounting kit is available from SCHUNK for the models below. Assembly IN PRG en 19

20 Assembly Assembly of the mounting kit IN40 Mounting of the proximity switch IN 40 1 Fasten brackets (3/4) with screws (5/6) to the housing. 2 Fasten the switch cams (9/10) with the screws (7/8) to the rotary bolt. The switching points of the "open" and "closed" positions must be set by the customer himself. Gripper open: 1 Set the gripper to the Open position. 2 Carefully push proximity switch (1) into the bracket (3) until it touches the switch cam (9). 3 Pull the proximity switch approx 0.5 mm back. 4 Fasten the proximity switch by tightening the screws (5). 5 Set the gripper to the»open«position and test the function. Gripper closed: 1 Set the gripper to the Closed position. 2 Carefully push proximity switch (2) into the bracket (4) until it touches the switch cam (10). 3 Pull the proximity switch approx 0.5 mm back. 4 Fasten the proximity switch by tightening the screws (6). 5 Set the gripper to the»closed«position and test the function. Part gripped (O.D. gripping): 1 Clamp the part to be gripped. 2 Loosen the screw (8). 3 Turn the switch cam (10) so that the lug is parallel to the bracket (4). 4 Fasten the switch cam by tightening the screw (8). 5 Carefully push proximity switch (2) into the bracket (4) until it touches the switch cam (10). 6 Pull the proximity switch approx 0.5 mm back. 7 Fasten the proximity switch by tightening the screws (6). 8 Test the function by opening the gripper and then closing it again PRG en

21 Assembly Inductive proximity switch IN 40 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 bend radius 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. 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 PRG en 21

22 Assembly Mounting kit To use the inductive sensor, the gripper has to be retrofitted with a special mounting kit. This mounting kit is available from SCHUNK for the models below. Assembly IN 40 Assembly of the mounting kit IN80 PRG 26 to 64 Assembly of the mounting kit IN80 - PRG 80 to Attach the screw and the nut (5/6) on the bracket (3/4). 2 Fasten brackets (3/4) with screws (7/8) and washers (13/14) to the housing. 3 Push the brackets down as far as pos sible (away from the rotary bolt). 4 Fasten the switch cams (11/12) with the screws (9/10) to the rotary bolt. 1 Attach the screw and the nut (5/6) on the bracket (3/4). 2 Fasten brackets (3/4) with the screws (7/8) to the housing. 3 Push the brackets down as far as possible (away from the rotary bolt). 4 Fasten the switch cams (11/12) with the screws (9/10) to the rotary bolt PRG en

23 Assembly Mounting of the proximity switch IN 80 The switching points of the "open" and "closed" positions must be set by the customer himself. Gripper open: 1 Set the gripper to the Open position. 2 Push the proximity switch (1) to the stop of the bracket (3). 3 Fasten the proximity switch by tightening the screws (5) in the bracket. 4 Undo screws (7) and carefully push bracket 1 (3) to the switch cam until it touches the switch cam (11). 5 Pull the bracket approx 0.5 mm back. 6 Fasten the bracket by tightening the screw (7). 7 Set the gripper to the»open«position and test the function. Gripper closed: 1 Set the gripper to the Closed position. 2 Push the proximity switch (2) to the stop of the bracket (4). 3 Fasten the proximity switch by t ightening the screws (6) in the bracket. 4 Undo screws (8) and carefully push bracket (4) to the switch cam until it touches the switch cam (12). 5 Pull the bracket approx 0.5 mm back. 6 Fasten the bracket by tightening the screw (8). 7 Set the gripper to the»closed«position and test the function. Part gripped (O.D. gripping): 1 Clamp the part to be gripped. 2 Loosen the screw (9). 3 Turn the switch cam (11) so that the lug is parallel to the bracket (3). 4 Fasten the switch cam by tightening the screw (9). 5 Push the proximity switch (2) to the stop of the bracket (4) 6 Fasten the proximity switch by tightening the screws (6) in the bracket. 7 Undo screws (8) and carefully push bracket (4) to the switch cam until it touches the switch cam (12). 8 Pull the bracket approx 0.5 mm back. 9 Fasten the bracket by tightening the screw (8). 10 Test the function by opening the gripper and then closing it again PRG en 23

24 Assembly Magnetic switch MMS 22 / RMS 22 NOTICE Risk of damage to the sensor during assembly! Observe a maximum tightening torque of 10 Ncm for the setscrews. 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 PRG en

25 Assembly Positioning the magnetic switch Positioning of the magnetic switches Gripper open: 1 Set the gripper to the Open position. 2 Slide the magnetic switch 1 (1) into the groove (4) until it comes into contact with the housing. 3 Slide the magnetic switch 1 (1) slowly back until it switches. 4 By tightening the set screw (3), fix the magnetic switch 1 (1) in this position in the groove (4). 5 Test the function by closing the gripper and then opening it again. Gripper closed: 1 Set the gripper to the Closed position. 2 Slide the magnetic switch 2 (2) into the groove (4) in the direction of the center of the gripper until it switches. 3 By tightening the set screw (3), fix the magnetic switch 2 (2) in this position in the groove (4). 4 Test the function by opening the gripper and then closing it again. Part gripped (O.D. gripping): 1 Clamp the part to be gripped. 2 Slide the magnetic switch 2 (2) into the groove (4) in the direction of the center of the gripper until it switches. 3 By tightening the set screw (3), fix the magnetic switch 2 (2) in this position in the groove (4). 4 Test the function by opening the gripper and then closing it again PRG en 25

26 Assembly Programmable magnetic switch (MMS-P) NOTE The MMS-P can be used only for sizes Magnetic switch MMS-P 22 1 Mounting screw 4 Teach-button 2 Center sensor elements 5 LED display 3 LED display 6 Ribs for cable tires 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 via 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 PRG en

27 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 (e.g. Adapter plate made of ordinary steel). For ferromagnetic adapter plates: The module must be first mounted on the adapter plate. Then, the position of the magnetic switchs has to be set. 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 PRG en 27

28 Assembly SizePRG l1 [mm] l2 [mm] SizePRG l1 [mm] l2 [mm] 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. 2 Turn in the sensor (1-4). OR Push the sensor axially into the slot until it contacts the stop (5). 3 Fix the sensor with an Allen wrench (6). 4 Keep the Teach-Button (4) 2 pressed for 2 seconds. After 2 seconds LED 1 (3) is flashing. 5 Move the gripper into position 1 (e.g. open ). 6 Press the Teach-Button (4) briefly. LED 1 (3) lights up and LED 2 (5) is flashing PRG en

29 Assembly 7 Move the gripper into position 2 manually (e.g. "-2 degree") LED 1 (3) should turn out as soon as the switching point 1 is left. 8 Press the Teach-Button (/4/) briefly. 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. The lowest securely detectable difference in stroke is 10 % of the nominal stroke. 1 Press the Teach-Button (4) for 5 seconds. LED 1 (3) will flash up after 2 up to 5 seconds. LED 1 will stop after 5 seconds. 2 Release the Teach-button. 3 Put the gripper to position "switch-off point of switching point 1". 4 Press the Teach-Button (4) briefly. LED 1 (3) will light up twice. 5 Put the gripper to position "switch-off point of switching point 2". 6 Press the Teach-Button (4) briefly. LED 2 (5) will light up twice. The mounting of the sensor MMS-P is completed PRG en 29

30 Troubleshooting Troubleshooting Module does not move? Possible cause Base jaws jam in housing, possible cause: bolting surface not sufficiently level. Corrective action Check the evenness of the bolting surface. ( 7.1, Page 13) Loosen the mounting screws of the product and actuate the product again. Pressure drops below minimum. Check air supply.( 7.2, Page 15) Compressed air lines switched. Proximity switch defective or set incorrect. Unused air connections open. Component part defective. The aperture angle is limited to 0. Check compressed air lines. Readjust or change sensor. Close unused air connections. Replace component or send it to SCHUNK for repair. Check opening angle limitation. 8.2 The module does not travel through the entire stroke? Possible cause Dirt deposits between basic jaws and guidance. Pressure drops below minimum. Screw-on surface is not sufficiently flat. Component part defective. The aperture angle is limited to 0. Corrective action Disassemble and clean the product. Check air supply. ( 7.2, Page 15) Check the evenness of the bolting surface. ( 7.1, Page 13) Sent the product to SCHUNK with a repair order.or disassemble the product. Check opening angle limitation PRG en

31 Troubleshooting 8.3 Module opens or closes abruptly? Possible cause Too little grease in the mechanical guiding areas. Compressed air lines blocked. Screw-on surface is not sufficiently flat. Loading too large. Corrective action Clean and lubricate product. ( 9, Page 33) Check compressed air lines of damage. Check the evenness of the bolting surface. Check the permissible weight and length of the top jaws. ( 7.1, Page 13) 8.4 Module opens with heavy impacts in the end position Possible cause Mass moment of inertia of the top jaw too great Flow control couplings not attached Corrective action Use a lighter gripper finger. Throttle the gripper to swiveling time per catalog ( 7.2, Page 15). Attach the flow control couplings. 8.5 The gripping force is dropping Possible cause Compressed air can escape. To much grease in the mechanical movement space. Pressure drops below minimum. Component part defective. Corrective action Test seals and, if need be, disassemble the module and replace seals. Clean and lubricate product. ( 9, Page 33) Check air supply. Link Pneumatischer Anschluss Sent the product to SCHUNK with a repair order.or disassemble the product PRG en 31

32 Troubleshooting 8.6 Module does not achieve the opening and closing times? Possible cause Compressed air lines are not installed optimally. Loading too large. 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. NOTICE! The flow control couplings must not be removed even when the gripper has reached the opening and closing times. Check compressed air lines. Inner diameters of compressed air lines are of sufficient size in relation to compressed air consumption. Keep compressed air lines between the product and directional control valve as short as possible. Flow rate of valve is sufficiently large relative to the compressed air consumption. Check the permissible weight and length of the top jaws PRG en

33 Maintenance and care Maintenance and care Notes Original spare parts When replacing damaged parts (wearing parts/spare parts) only use SCHUNK original spares. Exchange of housing and base jaws The base jaws and the guidance in the housing are matched. To exchange these parts, send the product with a repair order to SCHUNK or order the housing with the base jaws as a set. 9.2 Maintenance and lubrication intervals NOTICE Damage caused by insufficient lubricant! Lubricants harden more quickly at temperatures above 60 C, leading to possible product damage. Reduce the lubricant intervals accordingly. Size Interval [Mio. cycles] Lubricants/Lubrication points (basic lubrication) SCHUNK recommends the lubricants listed. During maintenance, treat all greased areas with lubricant. Thinly apply lubricant with a lint-free cloth. Lubricant point Lubricant Metallic sliding surfaces microgleit GP 360 All seals Renolit HLT 2 Bores on the piston Renolit HLT PRG en 33

34 Maintenance and care 9.4 Disassembly of the module PRG Version without gripping force maintenance Position of the position numbers( 10, Page 39) WARNING Risk of injury from uncontrolled movements! If the energy supply is switched on or residual energy remains in the system, parts may move unexpectedly and cause serious injuries. Switch off energy supply. Make sure there is no residual energy in the system 1 Remove the compressed air hoses. 2 Remove circlip (18) for cover (4). 3 Pull the cover (4) out of the housing. 4 Unscrew and remove the screws (6). 5 Pull cylinder piston (5) out of the housing. 6 Loosen set-screw (20) in the base jaws (2x). 7 Remove rotary bolt (6) (2x). 8 Remove base jaws (2) (2x). 9 Pull piston rod (3) out of the housing PRG en

35 Maintenance and care Variant with gripping force maintenance O.D. gripping Position of the position numbers( 10, Page 39) WARNING Risk of injury from uncontrolled movements! If the energy supply is switched on or residual energy remains in the system, parts may move unexpectedly and cause serious injuries. Switch off energy supply. Make sure there is no residual energy in the system WARNING Risk of injury due to spring forces! The cylinder piston is under spring tension. Carefully disassemble the module. 1 Remove the compressed air hoses. WARNING Risk of injury due to spring forces! In case of defect, the screws (18) and the cover (4) can be under spring tension. Carefully disassemble the module. 2 Secure the cover by suitable means. 3 Remove circlip (18) for cover (4). 4 Carefully remove the cover safety. 5 Pull the cover (4) out of the housing. 6 Secure the cylinder piston by suitable means. 7 Unscrew and remove the screws (6). 8 Carefully remove the cylinder piston safety. 9 Pull cylinder piston (5) out of the housing. 10 Loosen set-screw (20) in the base jaws (2x). 11 Remove rotary bolt (6) (2x). 12 Remove base jaws (2) (2x). 13 Pull piston rod (3) out of the housing PRG en 35

36 Maintenance and care 9.5 Disassembly of the module PRG Version without gripping force maintenance Position of the position numbers ( 10, Page 39) WARNING Risk of injury from uncontrolled movements! If the energy supply is switched on or residual energy remains in the system, parts may move unexpectedly and cause serious injuries. Switch off energy supply. Make sure there is no residual energy in the system 1 Remove the compressed air hoses. 2 Remove screws (18) for cover (4). 3 Remove the cover (4). 4 Unscrew and remove the screws (6). 5 Pull cylinder piston (5) out of the housing. 6 Loosen set-screw (20) in the base jaws (2x). 7 Remove rotary bolt (6) (2x). 8 Remove base jaws (2) (2x). 9 Pull piston rod (3) out of the housing PRG en

37 Maintenance and care Variant with gripping force maintenance O.D. gripping Position of the position numbers ( 10, Page 39) WARNING Risk of injury from uncontrolled movements! If the energy supply is switched on or residual energy remains in the system, parts may move unexpectedly and cause serious injuries. Switch off energy supply. Make sure there is no residual energy in the system WARNING Risk of injury due to spring forces! The cylinder piston is under spring tension. Carefully disassemble the module. 1 Remove the compressed air hoses. WARNING Risk of injury due to spring forces! In case of defect, the screws (18) and the cover (4) can be under spring tension. Carefully disassemble the module. 2 Secure the cover by suitable means. 3 Remove screws (18) for cover (4) (4x). 4 Carefully remove the cover safety. 5 Pull the cover (4) out of the housing. 6 Secure the cylinder piston by suitable means. 7 Unscrew and remove the screws (6). 8 Carefully remove the cylinder piston safety. 9 Pull cylinder piston (5) out of the housing. 10 Loosen set-screw (20) in the base jaws (2x). 11 Remove rotary bolt (6) (2x) PRG en 37

38 Maintenance and care 9.6 Servicing and assembling the module Position of the position numbers ( 10, Page 39) WARNING Risk of injury due to spring forces! The lid is under spring tension. Carefully disassemble the product. Maintenance Clean all parts thoroughly and check for damage and wear. Treat all greased areas with lubricant. ( 9.3, Page 33) Oil or grease bare external steel parts. Replace all wear parts and seals. Position of the wearing parts( 10, Page 39) Seal kit( 11, Page 41) 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.( 9.6.1, Page 38) Screw tightening torques Position of the position numbers ( 10, Page 39) Dimensions in Nm Item PRG 26 PRG 34 PRG 42 PRG 52 PRG 64 PRG 80 PRG 100 PRG PRG en

39 Assembly drawing Assembly drawing The following figures are example images. They serve for illustration and assignment of the spare parts. Variations are possible depending on size and variant. Assembly drawing PRG Assembly of the Types O.D.gripping / I.D. gripping / without gripping force maintenance * Wearing part, replace during maintenance. Included in the seal kit. Seal kit can only be ordered completely. ** Only for units with 30 or 60 opening angle PRG en 39

40 Assembly drawing 10.2 Assembly drawing PRG Assembly of the Types O.D.gripping / I.D. gripping / without gripping force maintenance * Wearing part, replace during maintenance. Included in the seal kit. Seal kit can only be ordered completely. ** Only for units with 30 or 60 opening angle PRG en

41 Seal kit 11 Seal kit ID.-No. of the seal kit Seal kit for ID number PRG PRG 26 High-temperature version (HT) PRG PRG 34 High-temperature version (HT) PRG PRG 42 High-temperature version (HT) PRG PRG 52 High-temperature version (HT) PRG PRG 64 High-temperature version (HT) PRG PRG 80 High-temperature version (HT) PRG PRG 100 High-temperature version (HT) PRG PRG 125 High-temperature version (HT) Contents of the sealing kit, ( 10, Page 39) PRG en 41

42 Accessories kit 12 Accessories kit Content of the accessories pack: Centering sleeves (6x) from size 80: Centering sleeves (8x) O-rings (4x) Locking screws (2x) ID.-No. of the accessory pack Accessory pack for ID number PRG PRG 26 High-temperature version (HT) PRG PRG 34 High-temperature version (HT) PRG PRG 42 High-temperature version (HT) PRG PRG 52 High-temperature version (HT) PRG PRG 64 High-temperature version (HT) PRG PRG 80 High-temperature version (HT) PRG PRG 100 High-temperature version (HT) PRG PRG 125 High-temperature version (HT) PRG en

43 Mounting kit for proximity switch 13 Mounting kit for proximity switch ID.-No. of the mounting kit Anbausatz für Proximity switch IN 40 Proximity switch IN 80 PRG PRG PRG PRG PRG PRG PRG PRG Contents of the mounting kit ( 10, Page 39) PRG en 43

44 14 Translation of original declaration of incorporation in terms of the Directive 2006/42/EG, Annex II, Part 1.B of the European Parliament and of the Council on machinery. Manufacturer/ Distributor SCHUNK GmbH & Co. KG Spann- und Greiftechnik Bahnhofstr D Lauffen/Neckar We hereby declare that on the date of the declaration the following incomplete machine complied with all basic safety and health regulations found in the directive 2006/42/EC of the European Parliament and of the Council on machinery. The declaration is rendered invalid if modifications are made to the product. Product designation: ID number Pneumatic Radial gripper / PRG / pneumatic , , , , , , , , , , , 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: DIN EN ISO 12100: Safety of machinery - General principles for design - Risk assessment and risk reduction The manufacturer agrees to forward on demand the relevant technical documentation for the partly completed machinery in electronic form to national authorities. The relevant technical documentation according to Annex VII, Part B, belonging to the partly completed machinery, has been created. Person authorized to compile the technical documentation: Robert Leuthner, Address: see manufacturer's address Lauffen/Neckar, June 2016 p.p. Ralf Winkler, Head of Gripping Systems Development PRG en