Assembly and Operating Manual PGN-plus 2-Finger Parallel Gripper

Transcription

1 Translation of the original manual Assembly and Operating Manual PGN-plus 2-Finger Parallel Gripper

2 Imprint Imprint Copyright: This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights reserved. Any reproduction, processing, distribution (making available to third parties), translation or other usage - even excerpts - of the manual is especially prohibited and requires our written approval. Technical changes: We reserve the right to make alterations for the purpose of technical improvement. Document number: Version: /10/2017 en SCHUNK GmbH & Co. KG All rights reserved. Dear Customer, thank you for trusting our products and our family-owned company, the leading technology supplier of robots and production machines. Our team is always available to answer any questions on this product and other solutions. Ask us questions and challenge us. We will find a solution! Best regards, Your SCHUNK team SCHUNK GmbH & Co. KG Spann- und Greiftechnik Bahnhofstr D Lauffen/Neckar Tel Fax info@de.schunk.com schunk.com 2

3 Table of contents Table of contents 1 General About this manual Presentation of Warning Labels Applicable documents Sizes Variants Warranty Scope of delivery Accessories Basic safety notes Intended use Not intended use Constructional changes Spare parts Gripper fingers Environmental and operating conditions Personnel qualification Personal protective equipment Notes on safe operation Transport Malfunctions Disposal Fundamental dangers Protection during handling and assembly Protection during commissioning and operation Protection against dangerous movements Notes on particular risks Technical data Design and description Design Description Assembly Installing and connecting Connections Mechanical connection Pneumatic connection Mounting the sensor Overview of sensors Switch-off hysteresis

4 Table of contents Turn control cam Setting dimensions Mount the magnetic switch MMS Mount the programmable magnetic switch MMS 22-PI Mount the programmable magnetic switch MMS 22-PI Mount the analog magnetic switch MMS 22-A Mount the programmable magnetic switch MMS 22-P Mount the reed switch RMS Mount the reed switch RMS Mount the inductive proximity switch IN Mount the flexible position sensor FPS Mount the analog position sensor APS-M Mount the analog position sensor APS-Z Mount the optical distance sensor OAS Mount the radio system RSS-R1/T Mount the force-measuring jaw FMS Troubleshooting Product does not move The product is not executing the complete stroke Product opens or closes abruptly Product does not achieve the opening and closing times? The gripping force is dropping Maintenance Notes Maintenance and lubrication intervals Lubricants/Lubrication points Disassembling the product Variant without maintenance of gripping force Variant with maintenance of gripping force (O.D. gripping) Variant with maintenance of gripping force (I.D. gripping) Variant with dust cover Version with power booster cylinder (KVZ) without gripping force Servicing and assembling the product Variant without maintenance of gripping force Variant with maintenance of gripping force (O.D. gripping) Variant with maintenance of gripping force (I.D. gripping) Variant with dust cover Version with power booster cylinder (KVZ) without gripping force Screw tightening torques Assembly device cylinder piston with gripping force maintenance Sizes Sizes

5 Table of contents 7.7 Drawings Standard Dust cover Version with power booster cylinder Translation of original declaration of incorporation Annex to Declaration of Incorporation

6 General 1 General 1.1 About this manual This manual contains important information for a safe and appropriate use of the product. This manual is an integral part of the product and must be kept accessible for the personnel at all times. Before starting work, the personnel must have read and understood this operating manual. Prerequisite for safe working is the observance of all safety instructions in this manual. Illustrations in this manual are provided for basic understanding and may differ from the actual product design. In addition to these instructions, the documents listed under Applicable documents [} 7] are applicable Presentation of Warning Labels To make risks clear, the following signal words and symbols are used for safety notes. DANGER Danger for persons! Non-observance will inevitably cause irreversible injury or death. WARNING Dangers for persons! Non-observance can lead to irreversible injury and even death. CAUTION Dangers for persons! Non-observance can cause minor injuries. NOTICE Material damage! Information about avoiding material damage. 6

7 General Applicable documents Sizes General terms of business* Catalog data sheet of the purchased product * Assembly and operating manuals of the accessories * For ATEX versions: Supplementary sheet "Installation and operating instructions - EX" * The documents marked with an asterisk (*) can be downloaded on our homepage schunk.com This operating manual applies to the following sizes: PGN-plus 40 PGN-plus 50 PGN-plus 64 PGN-plus 80 PGN-plus 100 PGN-plus 125 PGN-plus 160 PGN-plus 200 PGN-plus 240 PGN-plus 300 PGN-plus Variants This operating manual applies to the following variations: PGN-plus Stroke 1 PGN-plus Stroke 2 PGN-plus with gripping force maintenance "O.D. gripping" (AS) PGN-plus with gripping force maintenance "I.D. gripping" (IS) PGN-plus Dust-protection (SD) PGN-plus High-temperature (V/HT) PGN-plus Force intensification (KVZ) PGN-plus Anti-corrosion (K) PGN-plus Precision (P) PGN-plus ATEX (EX) 7

8 General 1.2 Warranty If the product is used as intended, the warranty is valid for 36 months from the ex-works delivery date under the following conditions: Intented use in 1-shift operation Observe the specified maintenance and lubrication intervals Observe the ambient conditions and operating conditions Parts touching the workpiece and wear parts are not included in the warranty. 1.3 Scope of delivery The scope of delivery includes 2-Finger Parallel Gripper PGN-plus in the version ordered Accessory pack Content of the accessory pack: 6 x Centering sleeves for mounting 2 x O-ring for hose-free direct connection 2 x screw plug for hose connection ID.-No. of the accessory pack Size ID number PGN-plus PGN-plus V/HT PGN-plus PGN-plus PGN-plus PGN-plus PGN-plus PGN-plus PGN-plus PGN-plus PGN-plus PGN-plus PGN-plus

9 General Size 1.4 Accessories A wide range of accessories are available for this product For information regarding which accessory articles can be used with the corresponding product variants, see catalog data sheet. ID.-No. of the seal kit ID number PGN-plus PGN-plusV/HT PGN-plus-SD PGN-plus-KVZ PGN-plus PGN-plus PGN-plus PGN-plus PGN-plus PGN-plus PGN-plus PGN-plus PGN-plus PGN-plus PGN-plus

10 Basic safety notes 2 Basic safety notes 2.1 Intended use The product is designed exclusively for gripping and temporariy holding workpieces or objects. The product may only be used within the scope of its technical data, Technical data [} 17]. When implementing and operating components in safety-related parts of the control systems, the basic safety principles in accordance with DIN EN ISO apply. The proven safety principals in accordance with DIN EN ISO also apply to categories 1, 2, 3 and 4. The product is intended for installation in a machine/system. The applicable guidelines must be observed and complied with. The product is intended for industrial and industry-oriented use. Appropriate use of the product includes compliance with all instructions in this manual. 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 Constructional changes Implementation of structural changes By conversions, changes, and reworking, e.g. additional threads, holes, or safety devices can impair the functioning or safety of the product or damage it. Structural changes should only be made with the written approval of SCHUNK. 2.4 Spare parts Use of unauthorized spare parts Using unauthorized spare parts can endanger personnel and damage the product or cause it to malfunction. Use only original spare parts or spares authorized by SCHUNK. 10

11 Basic safety notes 2.5 Gripper fingers Requirements for the gripper fingers Stored energy within the product creates the risk of serious injuries and significant property damage. Arrange the gripper fingers in a way that the product reaches either the position "open" or "closed" in a de-energized state. Only exchange the gripper fingers when no residual energy remains in the product. Make sure that the product and the top jaws are a sufficient size for the application. 2.6 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. See also Technical data [} 17]. 2.7 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 Qualified personnel Instructed person Service personnel of the manufacturer 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. 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. 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. 11

12 Basic safety notes 2.8 Personal protective equipment Using personal protective equipment Not wearing personal protective equipment while working with the product, may result in dangers that impact the personnel's safety and health. While working with the product, observe the health and safety regulations and wear the required personal safety equipment. Observe the valid safety and accident prevention regulations. In case of sharp edges and corners and rough surfaces, wear protection gloves. In case of hot surfaces, wear heat-resistant protection gloves. When dealing with hazardous substances, wear protection gloves and goggles. In case of moving parts, wear tight protection clothes. 2.9 Notes on safe operation Incorrect handling of the personnel Incorrect handling and assembly may impair the product's safety and cause serious injuries and considerable material damage. Avoid any manner of working that may interfere with the function and operational safety of the product. Use the product as intended. Observe the safety notes and assembly instructions. Do not expose the product to any corrosive media. This does not apply to products that are designed for special environments. Eliminate any malfunction immediately. Observe the care and maintenance instructions. Observe the current safety, accident prevention and environmental protection regulations regarding the product's application field. 12

13 Basic safety notes 2.10 Transport Handling during transport Incorrect handling during transport may impair the product's safety and cause serious injuries and considerable material damage. When handling heavy weights, use lifting equipment to lift the product and transport it by appropriate means. Secure the product against falling during transportation and handling. Stand clear of suspended loads Malfunctions Behavior in case of malfunctions Immediately remove the product from operation and report the malfunction to the responsible departments/persons. Order appropriately trained personnel to rectify the malfunction. Do not recommission the product until the malfunction has been rectified. Test the product after a malfunction to establish whether it still functions properly and no increased risks have arisen Disposal Handling of disposal The incorrect handling of disposal may impair the product's safety and cause serious injuries as well as considerable material and environmental harm. Follow local regulations on dispatching product components for recycling or proper disposal Fundamental dangers General Observe safety distances. Never deactivate safety devices. Before commissioning the product, take appropriate protective measures to secure the danger zone. Disconnect power sources before installation, modification, maintenance, or calibration. Ensure that no residual energy remains in the system. If the energy supply is connected, do not move any parts by hand. Do not reach into the open mechanism or movement area of the product during operation. 13

14 Basic safety notes Protection during handling and assembly Incorrect handling and assembly Incorrect handling and assembly may impair the product's safety and cause serious injuries and considerable material damage. Have all work carried out by appropriately qualified personnel. For all work, secure the product against accidental operation. Observe the relevant accident prevention rules. Use suitable assembly and transport equipment and take precautions to prevent jamming and crushing. Incorrect lifting of loads Falling loads may cause serious injuries and even death. Stand clear of suspended loads and do not step into their swiveling range. Never move loads without supervision. Do not leave suspended loads unattended Protection during commissioning and operation Falling or violently ejected components Falling and violently ejected components can cause serious injuries and even death. Take appropriate protective measures to secure the danger zone. Never step into the danger zone during operation. 14

15 Basic safety notes Protection against dangerous movements Unexpected movements Residual energy in the system may cause serious injuries while working with the product. Switch off the energy supply, ensure that no residual energy remains and secure against inadvertent reactivation. Never rely solely on the response of the monitoring function to avert danger. Until the installed monitors become effective, it must be assumed that the drive movement is faulty, with its action being dependent on the control unit and the current operating condition of the drive. Perform maintenance work, modifications, and attachments outside the danger zone defined by the movement range. To avoid accidents and/or material damage, human access to the movement range of the machine must be restricted. Restrict unintentional access by persons to this range e.g. via a protective cover, protective fence or photoelectric barrier. The protective cover and protective fence must be rigid enough to withstand the maximum possible movement energy. EMER- GENCY STOP switches must be easily and quickly accessible. Check the function of the EMREGENCY STOP before starting up the machine or system. If this protective equipment is not working properly, prevent the operation of the machine Notes on particular risks DANGER Risk of fatal injury from suspended loads! Falling loads can cause serious injuries and even death. Stand clear of suspended loads and do not step within their swiveling range. Never move loads without supervision. Do not leave suspended loads unattended. Wear suitable protective equipment. WARNING Risk of injury from objects falling and being ejected! Falling and ejected objects during operation can lead to serious injury or death. Take appropriate protective measures to secure the danger zone. 15

16 Basic safety notes WARNING Risk of injury due to unexpected movements! If the power supply is switched on or residual energy remains in the system, components can move unexpectedly and cause serious injuries. Before starting any work on the product: Switch off the power supply and secure against restarting. Ensure that no residual energy remains in the system. WARNING Risk of injury from crushing and impacts! Serious injury could occur during the base jaw procedure and when breaking or loosening the gripper fingers. Wear suitable protective equipment. Do not reach into the open mechanism or the movement area of the product. WARNING Risk of injury from sharp edges and corners! Sharp edges and corners can cause cuts. Use suitable protective equipment. 16

17 3 Technical data Technical data Designation PGN-plus Pressure medium Compressed air, compressed air quality according to ISO :7 4 4 Nominal working pressure [bar] 6 Minimum pressure [bar] without gripping force maintenance 2.5 with gripping force maintenance 4 Max. pressure [bar] without gripping force maintenance 8 with gripping force maintenance 6.5 Force intensified version (KVZ) 6 Pressure range for sealed air [bar] More technical data is included in the catalog data sheet. Whichever is the latest version. Environmental and operating conditions Designation PGN-plus Ambient temperature [ C] min. max / (V/HT: +130) IP protection class * 40 / (SD: 64) Noise emission [db(a)] 70 * For use in dirty ambient conditions (e.g. sprayed water, vapors, abrasion or processing dust) SCHUNK offers corresponding product options as standard. SCHUNK also offers customized solutions for special applications in dirty ambient conditions. 17

18 Design and description 4 Design and description 4.1 Design 2-Finger Parallel Gripper 1 Air purge connection 2 Base jaw 3 Compressed air main connection 4 Groove for magnetic switch 5 Housing 4.2 Description Universal 2-finger parallel gripper with large gripping force and high maximum moments thanks to multi-tooth guidance. 18

19 Assembly 5 Assembly 5.1 Installing and connecting WARNING Risk of injury due to unexpected movements! If the power supply is switched on or residual energy remains in the system, components can move unexpectedly and cause serious injuries. Before starting any work on the product: Switch off the power supply and secure against restarting. Ensure that no residual energy remains in the system. 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. Ø Check the flatness of the mounting surface, Mechanical connection [} 20]. Ø Connect product via the hose-free direct connection, Pneumatic connection [} 24]. Ø OR: Connect supply lines to the main air connections A and B, Pneumatic connection [} 24]. Unscrew locking screws. Screw air connections OR: Screw throttle valve in order to be able to carry out sufficient throttling and/or dampening. Ø Screw the product to the machine/system, Mechanical connection [} 20]. Use suitable connecting elements (adapter plates) if necessary. Observe permissible depth of engagement and if required strength class. Ø Connect air purge connection if necessary. Ø Connect the sensor, see Translation of Sensor Assembly and Operating Manual. 19

20 Assembly Ø Installing the sensor, Mounting the sensor [} 25]. Dust-protection (SD) NOTE In order to achieve perfect functioning of the gripper, the setscrew of the air purge connection must be removed and replaced with a pneumatic connection when using the dust-tight variant (SD). SCHUNK recommends using the air purge connection within the scope of the technical data, Technical data [} 17]. 5.2 Connections Mechanical connection DANGER Danger of explosion in explosion risk areas! Follow the instructions in supplementary sheet "Installation and operating instructions - EX" for modules in explosion-resistant versions (EX)! Evenness of the mounting surface The values apply to the whole mounting surface to which the product is mounted. Requirements for evenness of the mounting surface (Dimensions in mm) Edge length Permissible unevenness < 100 < 0.02 > 100 <

21 Assembly Connections at the base jaws Connections at the base jaws Pos. Mounting PGN-plus Centering sleeve Ø4 Ø5 Ø6 Ø8 Ø10 Ø10 2 Thread in base jaws M2.5 M3 M4 M5 M6 M6 Mounting screw 12.9 strength class Max. depth of engagement from locating surface [mm] Pos. Mounting PGN-plus Centering sleeve Ø14 Ø16 Ø16 Ø22 Ø28 2 Thread in base jaws M10 M12 M12 M16 M20 Mounting screw strength 12.9 class Max. depth of engagement from locating surface [mm] Dust-protection (SD) NOTE On delivery of the dust-tight version (SD) the intermediate jaws are screwed onto the base jaws. The intermediate jaws can become off while removing the screws. Observe during assembly, that the intermediate jaws are between the base jaws und the gripper finger. 21

22 Assembly Connections at the housing The product can be mounted from three sides. Connections at the housing Pos. Mounting PGN-plus Side A 1 Mounting screw M3 M4 M5 M5 M6 M8 Max. depth of engagement from locating surface [mm] for variants IS/AS Centering sleeve Ø5 Ø6 Ø8 Ø8 Ø10 Ø12 Side B 4 Bore for mounting Ø4.8 Ø5.8 Ø7.25 Ø7.25 Ø9 Ø10.5 screws Mounting screw according to standard DIN EN ISO Centering sleeve Ø5 Ø6 Ø8 Ø8 Ø10 Ø12 Side C 5 Bore for mounting screws Ø4.8 Ø5.8 Ø7.25 Ø9 Ø11 Ø14 Mounting screw according to standard DIN EN ISO 4762 Max. strength class Centering sleeve Ø5 Ø6 Ø8 Ø8 Ø10 Ø12 22

23 Assembly Pos. Mounting PGN-plus Side A 1 Mounting screw M8 M10 M12 M16 M20 Max. depth of engagement from locating surface [mm] for variants IS/AS Centering sleeve Ø12 Ø14 Ø16 Ø22 Ø28 Side B 4 Bore for mounting screws Ø11 Ø14 Ø18 Ø20 Ø26 Mounting screw according DIN EN ISO 4762 to standard 2 Centering sleeve Ø12 Ø14 Ø16 Ø22 Ø28 Side C 5 Bore for mounting screws Ø14 Ø17 Ø19 Ø25 Ø32 Mounting screw according to standard DIN EN ISO 4762 Max. strength class Centering sleeve Ø12 Ø14 Ø16 Ø22 Ø28 23

24 Assembly Pneumatic connection NOTE Observe the requirements for the compressed air supply, Technical data [} 17]. In case of compressed air loss (cutting off the energy line), the components lose their dynamic effects and do not remain in a secure position. However, the use of a SDV-P pressure maintenance valve is recommended in this case in order to maintain the dynamic effect for some time. Product variants are also offered with mechanical gripping force via springs, which also ensure a minimum clamping force in the event of a pressure drop. Air connections 1 Main connections (Hose connection) (A = open, B = close) 2 Hose-free direct connection at the base (a = open, b = close) 3 Hose-free direct connection 4 Air purge connection Hose-free direct connection 6 Product 7 O-ring 8 Attachment 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. 24

25 Assembly Item Mounting 1 Thread in the main air connections Max. depth of engagement from locating surface [mm] 2 Thread in the air purge connection Max. depth of engagement from locating surface [mm] PGN-plus M3 M5 M5 M5 G1/8 G1/ M3 M5 M5 M5 M5 M Item Mounting 1 Thread in the main air connections Max. depth of engagement from locating surface [mm] 2 Thread in the air purge connection Max. depth of engagement from locating surface [mm] PGN-plus G1/8 G1/8 G1/8 G1/4 G1/ M5 M5 M5 M5 M Mounting the sensor NOTE Observe the assembly and operating manual of the sensor for mounting and connecting. The product is prepared for the use of sensors. For the exact type designations of suitable sensors, please see catalog datasheet and Link Übersicht Sensoren. For technical data for the suitable sensors, see assembly and operating manual and catalog datasheet. The assembly and operating manual and catalog datasheet are included in the scope of delivery for the sensors and are available at schunk.com. Information on handling sensors is available at schunk.com or from SCHUNK contact persons. 25

26 Assembly Designation Overview of sensors PGN-plus Magnetic switch MMS 22 X X X X X X X X X X X Programmable magnetic X X X X X X X X X X X switch MMS-22 PI1 Programmable magnetic X X X X X X switch MMS-22 PI2 Analog magnetic switch X X X X X X MMS 22-A Programmable magnetic X X X X X X X switch MMS-P 22 Reed switch RMS 22 X X X X X X X Reed switch RMS 80 X X X X X X X X X Inductive proximity switch X X X X X X X X X IN 80 Flexible position sensor X X X X X X X X X FPS-F5 with FPS-S M8 Flexible position sensor X X X X X X FPS-F5 with MMS 22-A Analog position sensor APS-M1 X X X X X X X X X Analog position sensor APS-Z80 X X X X X X X X X Optical distance sensor OAS X X X X X X Radio system RSS R1/T2 with X X X X X X X Reed switch RMS 22 Radio system RSS R1/T2 with X X X X X X X X X Reed switch RMS 80 Force-measuring jaw FMS X X X X X X X X Switch-off hysteresis Sensors MMS 22, MMS-P 22, MMS 22-PI1 and MMS 22-PI2 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 5 mm X > 5 mm to X 10 mm X > 10 mm 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 Example: Product with 7 mm nominal stroke per jaw 7 mm * 20% = 1.4 mm 26

27 Assembly Turn control cam Turn control cam, example control cam for inductive monitoring Depending on the jaw stroke, it may be necessary to change the alignment of the control cam for the sensors IN 80 and RMS 80. In the image, the installation situation (A) shows the control cam in the delivery state of the product and the installation situation (B) shows the turned control cam. In order to change the alignment of the control cam, proceed as follows: Ø Undo the screw (2). Ø Remove control cam (1) from the product, turn and re-insert it into the product. Ø Turn the screw (3) to push the position of the control cam (1). 27

28 Assembly Setting dimensions * Setting dimension I1, from product bottom edge (1) to front sensor (2) The setting dimension applies for the following sensors: Programmable magnetic switch MMS-22 PI1, not for sizes 50, 200, 240, 300 and 380 Programmable magnetic switch MMS-22 PI2, not for sizes 50, 200, 240, 300 and 380 Programmable magnetic switch MMS-P 22 Size l1* [mm] Size l1* [mm] KVZ AS AS-KVZ / IS-KVZ IS KVZ AS AS-KVZ / IS-KVZ IS KVZ AS AS-KVZ / IS-KVZ IS KVZ AS AS-KVZ / IS-KVZ IS KVZ AS AS-KVZ / IS-KVZ IS KVZ AS AS-KVZ / IS-KVZ IS KVZ AS AS-KVZ / IS-KVZ IS

29 Assembly Mount the magnetic switch MMS 22 NOTICE Material damage due to an incorrect tightening torque! If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged. Observe a maximum tightening torque of 10 Ncm for the setscrews. Position "Gripper open" or "Part gripped (I.D. gripping)" Ø Bring product in the position to be set. Ø If necessary remove T-nut (3). Ø Turn the sensor 1 (1) into the groove (2). OR: Slide the sensor 1 (1) into the groove (2) until the sensor 1 (1) stops at the end of the groove. Ø Pull the sensor 1 (1) back again slowly until it switches. Ø Secure the sensor 1 (1) using the set-screw (4). Tightening torque: 10 Ncm Ø Bring product into the "Gripper open" or "Part gripped" position and test the function. Position "Gripper closed" or "Part gripped (O.D. gripping)" Ø Bring product in the position in which it is to be set. Ø If necessary remove T-nut (3) Ø Turn the sensor 2 (1) into the groove (2). OR: Slide sensor 2 (1) into the groove (2) in the direction of the housing middle (3), until the sensor 2 (1) switches. Ø Secure the sensor 2 (1) using the set-screw (4). Tightening torque: 10 Ncm 29

30 Assembly Ø Bring product into the "Gripper closed" or "Part gripped" position and test the function Mount the programmable magnetic switch MMS 22-PI1 NOTICE Material damage due to an incorrect tightening torque! If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged. Observe a maximum tightening torque of 10 Ncm for the setscrews. NOTE If there is no T-nut available, slide the sensor according to dimension I1 into the groove (2), Setting dimensions [} 28]. Sizes , except 50 Ø Turn the sensor 1 (1) into the groove (2). OR: Slide the sensor 1 (1) into the groove (2) until the sensor 1 (1) stops at the T-nut (3). Ø Secure the sensor 1 (1) using the set-screw (4). Tightening torque: 10 Ncm Ø Adjust sensor 1 (1), see sensor assembly and operating manual. Ø Repeat steps for sensor 2. Sizes 50, 200, 240, 300 and 380 Ø Bring gripper in the position in which it is to be set. Ø Hold teaching tool to the sensor 1 (1) until the sensor flashes. Ø Slide sensor 1 (1) into the groove (2), until the sensor 1 flashes rapidly. The optimal position is displayed. 30

31 Assembly Ø Secure the sensor 1 (1) using the set-screw (4). Tightening torque: 10 Ncm Ø Hold teaching tool to the sensor 1 (1), to confirm the position. The sensor 1 (1) has been taught in. Ø Repeat steps for sensor Mount the programmable magnetic switch MMS 22-PI2 NOTICE Material damage due to an incorrect tightening torque! If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged. Observe a maximum tightening torque of 10 Ncm for the setscrews. NOTE If there is no T-nut available, slide the sensor according to dimension I1 into the groove (2), Setting dimensions [} 28]. Ø Turn the sensor (1) into the groove (2). OR: Slide the sensor (1) into the groove (2) until the sensor (1) stops at the T-nut (3). Ø Secure the sensor (1) using the set-screw (4). Tightening torque: 10 Ncm Ø Adjust sensor (1), see sensor assembly and operating manual. 31

32 Assembly Mount the analog magnetic switch MMS 22-A NOTICE Material damage due to an incorrect tightening torque! If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged. Observe a maximum tightening torque of 10 Ncm for the setscrews. NOTE If there is no T-nut available, slide the sensor according to dimension I1 into the groove (2), see following table. Ø Turn the sensor (1) into the groove (2). OR: Slide the sensor (1) into the groove (2) until the sensor (1) stops at the T-nut (3). Ø Secure the sensor (1) using the set-screw (4). Tightening torque: 10 Ncm Ø Adjust sensor (1), see sensor assembly and operating manual. Dimensions I1 Size l1* [mm] Size l1* [mm] AS AS IS IS KVZ KVZ AS-KVZ / IS-KVZ AS-KVZ / IS-KVZ AS AS

33 Assembly Size l1* [mm] Size l1* [mm] 64 IS IS KVZ KVZ AS-KVZ / IS-KVZ AS-KVZ / IS-KVZ AS AS IS IS KVZ KVZ AS-KVZ / IS-KVZ AS-KVZ / IS-KVZ * Dimension l1 Bottom edge of the product to front edge of the sensor Mount the programmable magnetic switch MMS 22-P 22 NOTICE Material damage due to an incorrect tightening torque! If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged. Observe a maximum tightening torque of 10 Ncm for the setscrews. NOTE If there is no T-nut available, slide the sensor according to dimension I1 into the groove (2), Setting dimensions [} 28]. Ø Turn the sensor (1) into the groove (2). OR: Slide the sensor (1) into the groove (2) until the sensor (1) stops at the T-nut (3). 33

34 Assembly Ø Secure the sensor (1) using the set-screw (4). Tightening torque: 10 Ncm Ø Adjust sensor (1), see sensor assembly and operating manual Mount the reed switch RMS 22 NOTICE Material damage due to an incorrect tightening torque! If the threaded pin is tightened with an incorrect tightening torque, the product may be damaged. Observe a maximum tightening torque of 10 Ncm for the setscrews. Position "Gripper open" or "Part gripped (I.D. gripping)" Ø Bring product in the position to be set. Ø If necessary remove T-nut (3). Ø Turn the sensor 1 (1) into the groove (2). OR: Slide the sensor 1 (1) into the groove (2) until the sensor 1 (1) stops at the end of the groove. Ø Pull the sensor 1 (1) back again slowly until it switches. Ø Secure the sensor 1 (1) using the set-screw (4). Tightening torque: 10 Ncm Ø Bring product into the "Gripper open" or "Part gripped" position and test the function. Position "Gripper closed" or "Part gripped (O.D. gripping)" Ø Bring product in the position in which it is to be set. Ø If necessary remove T-nut (3) Ø Turn the sensor 2 (1) into the groove (2). OR: Slide sensor 2 (1) into the groove (2) in the direction of the housing middle (3), until the sensor 2 (1) switches. 34

35 Assembly Dust-protection Ø Secure the sensor 2 (1) using the set-screw (4). Tightening torque: 10 Ncm Ø Bring product into the "Gripper closed" or "Part gripped" position and test the function Mount the reed switch RMS 80 Before attaching the sensor, remove the sealing bolts from the bracket. Before adjusting the control cam, unscrew the set-screw from the side cover. Position "Gripper open" or "Part gripped (I.D. gripping)" Ø Slide the sensor 1 (1) into the bracket (2) until it stops. Ø Tighten the screw (3) on the bracket (2). Tightening torque: 0.2 Nm Ø Open gripper or grip part. Ø Undo the screw (4). Ø Turn the screw (5) to push the position of the control cam (6). Slide control cam (6) inwards until the sensor 1 (1) no longer responds. Move the control cam (6) back towards the outside until the sensor 1 (1) begins to switch. Ø Tighten screw (4) and in doing so press the control cam in the direction of the gripper finger. Switching point is set Ø Bring product into the "Gripper open" or "Part gripped" position and test the function. Position "Gripper closed" or "Part gripped (O.D. gripping)" Ø Slide the sensor 2 (1) to the stop into the bracket (2). Ø Tighten the screw (3) on the bracket (2). Tightening torque: 0.2 Nm 35

36 Assembly Dust-protection Ø Close gripper or grip part. Ø Undo the screw (4). Ø Turn the screw (5) to push the position of the control cam (6). Slide control cam (6) outwards until the sensor 2 (1) no longer responds. Move the control cam (6) back towards the inside until the sensor 2 (1) begins to switch. Ø Tighten screw (4) and in doing so press the control cam in the direction of the gripper finger. Switching point is set Ø Bring product into the "Gripper closed" or "Part gripped" position and test the function. Screw in set-screw into the side cover. NOTE If the switching position cannot be queried, it may be that the alignment of the control cam has to be changed, Turn control cam [} 27]. 36

37 Assembly Mount the inductive proximity switch IN 80 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. Dust-protection Before attaching the sensor, remove the sealing bolts from the bracket. Before adjusting the control cam, unscrew the set-screw from the side cover. The switching point of the position "Gripper open" and "Gripper closed" have already been set by SCHUNK. If these positions are to be used, carry out the following: Ø Slide the sensor 1 (1) into the bracket (2) until it stops. Ø Tighten the screw (3) on the bracket (2). Tightening torque: 0.2 Nm Ø Slide the sensor 2 (1) to the stop into the bracket (2). Ø Tighten the screw (3) on the bracket (2). Tightening torque: 0.2 Nm Ø Bring product into the "gripper open" or "gripper closed" position and test the function. If other switching points are to be used, do the following: 37

38 Assembly Dust-protection Position "Gripper open" or "Part gripped (I.D. gripping)" Ø Slide the sensor 1 (1) into the bracket (2) until it stops. Ø Tighten the screw (3) on the bracket (2). Tightening torque: 0.2 Nm Ø Open gripper or grip part. Ø Undo the screw (4). Ø Turn the screw (5) to push the position of the control cam (6). Slide control cam (6) inwards until the sensor 1 (1) no longer responds. Move the control cam (6) back towards the outside until the sensor 1 (1) begins to switch. Ø Tighten screw (4) and in doing so press the control cam in the direction of the gripper finger. Switching point is set Ø Bring product into the "Gripper open" or "Part gripped" position and test the function. Position "Gripper closed" or "Part gripped (O.D. gripping)" Ø Slide the sensor 2 (1) to the stop into the bracket (2). Ø Tighten the screw (3) on the bracket (2). Tightening torque: 0.2 Nm Ø Close gripper or grip part. Ø Undo the screw (4). Ø Turn the screw (5) to push the position of the control cam (6). Slide control cam (6) outwards until the sensor 2 (1) no longer responds. Move the control cam (6) back towards the inside until the sensor 2 (1) begins to switch. Ø Tighten screw (4) and in doing so press the control cam in the direction of the gripper finger. Switching point is set Ø Bring product into the "Gripper closed" or "Part gripped" position and test the function. Screw in set-screw into the side cover. NOTE If the switching position cannot be queried, it may be that the alignment of the control cam has to be changed, Turn control cam [} 27]. 38

39 Assembly Mount the flexible position sensor FPS The flexible position sensor FPS consists of an evaluation unit and one of the following sensors: MMS 22-A-5V FPS-S M8 NOTICE Risk of damage to the sensor during assembly! Observe the maximal tightening torque Mounting the MMS 22-A-5V Note: In order to mount the sensor MMS 22-A-5V, no additional attachment kit is required. Ø Assembling the sensor, Mount the analog magnetic switch MMS 22-A [} 32]. Ø Connect the control unit output and adjust the sensor (see assembly and operating manual of the sensor) Mounting the FPS-M8 To be able to mount the sensor, the gripper has to be retrofitted with a special mounting kit. Dust-protection Before attaching the sensor, remove the sealing bolts from the bracket. Before adjusting the control cam, unscrew the set-screw from the side cover. Ø Move product to the "gripper open" position. Ø Loosen screw (4) and remove control cam (6) for the inductive monitoring from the base jaw. Ø Remove screw (5) from the base jaw. Ø Slide control cam (7) out of the mounting kit with the recess at the front into the base jaw. 39

40 Assembly Dust-protection Ø Screw the control cam (7) to the base jaw using the screw (8). Ø Slide spacer shim (9) into the bracket (2) to the stop. Ø Slide the sensor (1) to the stop into the bracket (2). Ø Tighten the screw (3) on the bracket (2). Tightening torque: 0.2 Nm Ø Adjust sensor (1), see Translation of Sensor Assembly and Operating Manual. Screw in set-screw into the side cover Mount the analog position sensor APS-M1 To be able to mount the sensor, the gripper has to be retrofitted with a special mounting kit. 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. Dust-protection Before attaching the sensor, remove the sealing bolts from the bracket. Before adjusting the control cam, unscrew the set-screw from the side cover. Ø Move product to the "gripper open" position. Ø Loosen screw (4) and remove control cam (6) for the inductive monitoring from the base jaw. 40

41 Assembly Dust-protection Ø Apply adhesive to the top and sides of the control cam (6) from the mounting kit. Make sure that there is no adhesive on the bottom of the control cam (6), which comes into contact with the sensor. SCHUNK recommends the adhesive Loctite 290 or 638. Ø Slide control cam (6) out of the mounting kit front into the base jaw. Ensure that the higher front side of the control cam (6) is pointing outwards. Ø Tighten screw (4) slightly. Ø Turn the screw (5) to push the position of the control cam (6). Ø Tighten screw (4) and in doing so press the control cam (6) in the direction of the gripper finger. Ø Slide the sensor (1) to the stop into the bracket (2). Ø Tighten the screw (3) on the bracket (2). Tightening torque: 0.2 Nm Ø Adjust sensor (1), see Translation of Sensor Assembly and Operating Manual. Screw in set-screw into the side cover Mount the analog position sensor APS-Z80 To be able to mount the sensor, the gripper has to be retrofitted with a special mounting kit. 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. Dust-protection Before attaching the sensor, remove the sealing bolts from the bracket. Before adjusting the control cam, unscrew the set-screw from the side cover. 41

42 Assembly Dust-protection Ø Move product to the "gripper open" position. Ø Loosen screw (4) and remove control cam (6) for the inductive monitoring from the base jaw. Ø Remove screw (5) from the base jaw. Ø Apply adhesive to the top and sides of the control cam (6) from the mounting kit. Make sure that there is no adhesive on the bottom of the control cam (6), which comes into contact with the sensor. SCHUNK recommends the adhesive Loctite 290 or 638. Ø Slide control cam (6) into the base jaw to the stop. Ensure that the higher front side of the control cam (6) is pointing outwards. Ø NOTICE! The control cam (6) must no longer move after it is screwed on. Screw the control cam (6) to the base jaw using the screw (5). Secure the screw (5) with medium-strength locking liquid. Ø Slide the sensor (1) to the stop into the bracket (2). Ø Tighten the screw (3) on the bracket (2). Tightening torque: 0.2 Nm Ø Adjust sensor (1), see Translation of Sensor Assembly and Operating Manual. Screw in set-screw into the side cover. 42

43 Assembly Mount the optical distance sensor OAS NOTICE Risk of damage to the sensor! The cable must be aligned to the side of the gripper on which the two grooves for assembly of the sensor are located. The other side can be used for mounting the gripper. Ø Remove the gripper's cover plate. Ø Assemble the sensor in place of the cover plate. To do this, use the cover plate screws. Ø Connect the sensor to the evaluation unit, see Translation of Sensor Assembly and Operating Instructions Mount the radio system RSS-R1/T2 The radio system RSS-R1/T2 can be used with the following sensors: Reed switch RMS 22 Reed switch RMS Assembly RMS 22 Ø Installing the sensor, Mount the reed switch RMS 22 [} 34]. Ø Adjust sensor, see Translation of Sensor Assembly and Operating Manual. Ø Connect radio system RSS-R1/T2, see Translation of Radio System Assembly and Operating Manual Assembly RMS 80 Ø Installing the sensor, Mount the reed switch RMS 80 [} 35]. Ø Adjust sensor, see Translation of Sensor Assembly and Operating Manual. Ø Connect radio system RSS-R1/T2, see Translation of Radio System Assembly and Operating Manual. 43

44 Assembly Mount the force-measuring jaw FMS Ø Screw intermediate jaws (2) onto the base jaws (4). Use centering sleeves between base jaw and intermediate jaw. Ø Screw passive force-measuring jaw (1) and active force-measuring jaw (3) onto the intermediate jaws. Use centering sleeves between force-measuring jaw and intermediate jaw. Ø Screw gripper fingers onto the force-measuring jaws (1, 3). Use centering sleeves between force-measuring jaw and gripper finger. Ø Connect the evaluation unit, see Sensor Assembly and Operating Instructions. 44

45 6 Troubleshooting 6.1 Product does not move Possible cause Base jaws jam in housing, e.g. mounting surface is not sufficiently even. Pressure drops below minimum. Compressed air lines switched. Proximity switch defective or set incorrect. Unused air connections open. Flow control valve closed. Component part defective. Troubleshooting Corrective action Check the evenness of the mounting surface. Mechanical connection [} 20] Check air supply. Technical data [} 17] Check compressed air lines. Pneumatic connection [} 24] Readjust or change sensor. Close unused air connections. Open the flow control valve. Replace component or send it to SCHUNK for repair. 6.2 The product is not executing the complete stroke Possible cause Dirt deposits between cover and piston. Dirt deposits between basic jaws and guidance. Pressure drops below minimum. Mounting surface is not sufficiently flat. Component part defective. 6.3 Product opens or closes abruptly Possible cause Too little grease in the mechanical guiding areas. Compressed air lines blocked. Mounting surface is not sufficiently flat. One-way flow control valve is missing or adjustet incorrectly. Loading too large. Corrective action Clean and if necessary re-lubricate. Maintenance [} 47] Disassemble and clean the product. Check air supply. Pneumatic connection [} 24] Check the evenness of the mounting surface. Mechanical connection [} 20] Replace component or send it to SCHUNK for repair. Corrective action Clean and lubricate product. Maintenance [} 47] Check compressed air lines of damage. Check the evenness of the mounting surface. Install and adjust one-way flow control valve. Check permissible weight and length of the gripper fingers. 45

46 Troubleshooting Possible cause 6.4 Product does not achieve the opening and closing times? Compressed air lines are not installed optimally. Compressed air can escape. Component part defective. Too much grease in the mechanical movement space. Loading too large. Possible cause Compressed air can escape. Corrective action 6.5 The gripping force is dropping Too much grease in the mechanical movement space. Pressure drops below minimum. Component part defective. If present: Open the flow control couplings on the product to the maximum that the movement of the jaws occurs without bouncing and hitting. Check compressed air lines. Inner diameters of compressed air lines are of sufficient size in relation to compressed air consumption. Flow rate of valve is sufficiently large relative to the compressed air consumption. If you still cannot achieve the open and close times mentioned in the latest catalog, we recommend the use of quick-air-vent-valves directly at the product. Check seals, if necessary, disassemble the product and replace seals. Replace component or send it to SCHUNK for repair. Clean and lubricate product. Maintenance [} 47] Check permissible weight and length of the gripper fingers. Corrective action Check seals, if necessary, disassemble the product and replace seals. Clean and lubricate product. Maintenance [} 47] Check air supply. Pneumatic connection [} 24] Replace component or send it to SCHUNK for repair. 46