Page 1
Translation of the Original Manual
Assembly and Operating Manual
GAP
2-finger angular / parallel gripper
Page 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: 389418
Version: 04.00|28/06/2019|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. 106 – 134
D-74348 Lauffen/Neckar
Tel. +49-7133-103-0
Fax +49-7133-103-2399
[email protected]
schunk.com
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Table of contents
Table of contents
1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Applicable documents ..............................................................................6
1.1.3 Sizes ..........................................................................................................6
1.1.4 Variants..................................................................................................... 6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery ..................................................................................................7
1.3.1 Accessories kit ..........................................................................................7
1.4 Accessories ........................................................................................................... 7
2 Basic safety notes ................................................................................................... 8
2.1 Intended use......................................................................................................... 8
2.2 Not intended use.................................................................................................. 8
2.3 Constructional changes ........................................................................................8
2.4 Spare parts ........................................................................................................... 8
2.5 Gripper fingers ..................................................................................................... 9
2.6 Environmental and operating conditions .............................................................9
2.7 Personnel qualification....................................................................................... 10
2.8 Personal protective equipment.......................................................................... 10
2.9 Notes on safe operation ..................................................................................... 11
2.10 Transport ............................................................................................................ 11
2.11 Malfunctions....................................................................................................... 11
2.12 Disposal .............................................................................................................. 11
2.13 Fundamental dangers......................................................................................... 12
2.13.1 Protection during handling and assembly ..............................................12
2.13.2 Protection during commissioning and operation ...................................13
2.13.3 Protection against dangerous movements.............................................13
2.14 Notes on particular risks..................................................................................... 14
3 Technical data.........................................................................................................16
3.1 Basic data ........................................................................................................... 16
3.2 Variant with maintenance of gripping force....................................................... 16
4 Design and description............................................................................................17
4.1 Configuration...................................................................................................... 17
4.2 Description ......................................................................................................... 17
5 Assembly ................................................................................................................18
5.1 Installing and connecting.................................................................................... 18
5.2 Connections........................................................................................................ 19
5.2.1 Mechanical connection...........................................................................19
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Table of contents
5.2.2 Pneumatic connection............................................................................21
5.3 Adjusts absorber, only variants with end position dampening ..........................23
5.4 Mounting the sensor .......................................................................................... 24
5.4.1 Overview of sensors ...............................................................................24
5.4.2 Mounting MMS 22 magnetic switch.......................................................25
6 Troubleshooting .....................................................................................................26
6.1 Product does not move ......................................................................................26
6.2 Product does not execute a complete stroke..................................................... 26
6.3 Product opens or closes jerkily........................................................................... 26
6.4 Gripping force is dropping.................................................................................. 27
6.5 Product does not achieve the opening and closing times.................................. 27
7 Maintenance ..........................................................................................................28
7.1 Notes .................................................................................................................. 28
7.2 Maintenance intervals........................................................................................ 28
7.3 Lubricants/Lubrication points (basic lubrication) ............................................... 29
7.4 Disassembly and assembly .................................................................................30
7.4.1 Variant with maintenance of gripping force...........................................30
7.4.2 Variant without maintenance of gripping force .....................................31
7.5 Assembly drawing............................................................................................... 32
8 Translation of original declaration of incorporation ................................................33
8.1 Annex to Declaration of Incorporation............................................................... 34
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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 [}6] are applicable.
1.1.1 Presentation of Warning Labels
General
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.
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General
1.1.2 Applicable documents
• General terms of business*
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
The documents marked with an asterisk (*) can be downloaded on
our homepage schunk.com
1.1.3 Sizes
This operating manual applies to the following sizes:
• GAP 16
• GAP 20
• GAP 28
• GAP 32
1.1.4 Variants
This operating manual applies to the following variations:
• GAP without gripping force maintenance, GAP...
• GAP with gripping force maintenance, GAP...-AS
• GAP with end positioning dampening of the base jaw, GAP...-S
1.2 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:
• 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.
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1.3 Scope of delivery
The scope of delivery includes
• 2-finger angular/parallel gripper GAP in the version ordered
• Assembly and Operating Manual
• Accessory pack
1.3.1 Accessories kit
Content of the accessory pack:
• 6 x centering sleeves for mounting
• 2 x O-rings for hose-free direct connection
• 2 x locking screws for hose connections
ID.-No. of the accessory pack
16 20 28 32
5522430 5521287 5521317 5521348
General
GAP
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
GAP
16 20 28 32
0314639 0314609 0314619 0314629
Contents of the sealing kit, Assembly drawing [}32].
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Basic safety notes
2 Basic safety notes
2.1 Intended use
The product is designed exclusively for gripping and temporarily
holding workpieces or objects.
• The product may only be used within the scope of its technical
data, Technical data [}16].
• When implementing and operating components in safetyrelated parts of the control systems, the basic safety principles
in accordance with DIN EN ISO 13849-2 apply. The proven safety
principles in accordance with DIN EN ISO 13849-2 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.
8
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Page 9
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.
• Make sure that the product and the top jaws are a sufficient
size for the application.
• Ensure that maintenance and lubrication intervals are observed,
Maintenance [}28].
• 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.
• Make sure that the product is not exposed to excessive
vibrations and/or strokes.
• Ensure that no strong magnetic fields impair the function of the
product.
Contact your SCHUNK partner if the product is to be used in
strong magnetic fields.
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Basic safety notes
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.
The following personal qualifications are necessary for the various
activities related to the product:
Trained electrician
Qualified personnel
Instructed person
Service personnel of
the manufacturer
2.8 Personal protective equipment
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.
Use of personal protective equipment
Personal protective equipment serves to protect staff against
danger which may interfere with their health or safety at work.
• When working on and with the product, observe the
occupational health and safety regulations and wear the
required personal protective equipment.
• Observe the valid safety and accident prevention regulations.
• Wear protective gloves to guard against sharp edges and
corners or rough surfaces.
• Wear heat-resistant protective gloves when handling hot
surfaces.
• Wear protective gloves and safety goggles when handling
hazardous substances.
• Wear close-fitting protective clothing and also wear long hair in
a hairnet when dealing with moving components.
10
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Basic safety notes
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.
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.
2.11 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.
2.12 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.
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Basic safety notes
2.13.1 Protection during handling and assembly
2.13 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.
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.
12
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Page 13
2.13.2 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.
2.13.3 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.
Basic safety notes
• To avoid accidents and/or material damage, human access to
the movement range of the machine must be restricted. Limit/
prevent accidental access for people in this area due through
technical safety measures. The protective cover and protective
fence must be rigid enough to withstand the maximum possible
movement energy. EMERGENCY STOP switches must be easily
and quickly accessible. Before starting up the machine or
automated system, check that the EMERGENCY STOP system is
working. Prevent operation of the machine if this protective
equipment does not function correctly.
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Basic safety notes
2.14 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.
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.
• Make sure, 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.
14
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Page 15
Basic safety notes
WARNING
Risk of injury due to spring forces!
Parts are under spring tension on products which clamp using
spring force or which have gripping force maintenance. While
disassembling components can move unexpectedly and cause
serious injuries.
• Disassemble the product cautiously.
• Make sure that no residual energy remains in the system.
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.
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Technical data
3 Technical data
More technical data is included in the catalog data sheet.
Whichever is the latest version.
3.1 Basic data
Designation GAP
16 20 28 32
Opening angle per jaw [°] 30 / 60 / 90
Parallel stroke per jaw [mm] 1.0 1.0 1.5 2.0
Closing / opening force * 56.0 92.0 180.0 250.0
Max. permissible finger length [mm] 32 40 50 65
Max. permissible mass moment of inertia
1.0 3.12 7.45 14.87
per jaw [kgcm2]
IP rating 40
Min. ambient temperature [°C] 5
Max. ambient temperature [°C] 60
Noise emission [dB(A)] ≤70
Pressure medium Compressed air, compressed air quality
according to ISO 8573-1: 7:4:4
Min. pressure [bar]* 3.0
Max. pressure [bar]* 7
Nominal operating pressure [bar] 6
* Deviating values for variants with maintenance of gripping force.
3.2 Variant with maintenance of gripping force
Deviating values for the variants with maintenance of gripping force
Designation GAP
16-AS 20-AS 28-AS 32-AS
Closing / opening force 90 150 270 430
Min. spring force [N] 14 58 90 180
Min. pressure [bar] 4.5
Max. pressure [bar] 6.5
16
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4 Design and description
4.1 Configuration
Design and description
2-finger angular/parallel gripper
1 Tubeless direct connection
2 Main air connections (A = open, B = close)
3 Base jaw
4 Case
4.2 Description
2-finger angle parallel gripper for parallel external gripping with
prior swivelling of the gripper fingers up to 90° per jaw
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Assembly
5 Assembly
5.1 Installing and connecting
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 [}19].
Ø Connect the product via the hose-free direct connection,
Pneumatic connection [}21].
✓ Screw throttles in the main air connections A and B.
Ø OR: Connect supply lines to the main air connections A and B,
Pneumatic connection [}21].
✓ Unscrew locking screws.
✓ Screw on air connections
✓ OR: Screw on air throttle in order to be able to perform
sufficient throttling and/or dampening.
Ø Screw the product to the machine/system, Mechanical
connection [}19].
✓ Use suitable connecting elements (adapter plates) if necessary.
✓ Observe the permissible depth of engagement.
✓ Observe the tightening torque for the mounting screws.
Ø Connect the sensor, see Sensor Assembly and Operating
Manual.
Ø Install the sensor, Mounting the sensor [
}
24].
18
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Page 19
5.2 Connections
5.2.1 Mechanical connection
NOTE
When mounting the product and when mounting loads, do not
allow impermissible forces and moments to be exerted, see
catalog data sheet.
Select a suitable tightening torque when assembling the product
or loads on the product in accordance with the generally accepted
guidelines for screw connections.
Secure all screw connections using a suitable chemical screw lock.
Assembly
Evenness of the
mounting surface
Mounting
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 < 0.05
The connection geometries are above and at the side of the
product. See catalog for dimensions to position the mounting
holes
Ø Use the provided fixing bores for mounting the product on the
side. For the tightening torque, see following table.
Ø Fasten the product using the mounting holes provided for this
purpose.
Max. permissible tightening torque for lateral mounting
Mounting GAP
16 20 28 32
Max. tightening torque [Nm] 3 6
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Page 20
Assembly
* GAP 16-20 / ** GAP 28 / *** GAP 32
GAP
Item 16 20 28 32
(102) * ZH 500 (4x) (103) * ZH 600 (2x) ZH 600 (4x) (104) * ZH 700 (2x) ZH 700 (6x)
C [mm] 6.5 9.5 12.0 11.0
D M5 M5 M5 M5
E [mm] 1.5 1.5 1.5 1.5
F Ø7H7 Ø7H7 Ø7H7 Ø7H7
G [mm] 8.0 10.0 12.5 15.5
H M3 M3 M4 M5
J [mm] 1.5 1.5 1.5 1.5
K Ø5H7 Ø5H7 Ø6H7 Ø7H7
L [mm] 8.0 9.0 11.5 11.5
M M4 M4 M5 M5
O [mm] 1.5 1.5 1.5 1.5
P Ø6H7 Ø6H7 Ø7H7 Ø7H7
* Included in the product's scope of delivery.
20
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5.2.2 Pneumatic 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
When using the main air connections "A" and "B"GAP 16 – 32 the
gripper must be throttled by external throttle screw connections
for 16 - 32..
Assembly
• Do not remove pre-assembled fixed throttle fittings.
NOTICE
When using the direct connections "a" and "b"GAPthrottling for
16 - 32 is also necessary.
• Attach the supplied fixed throttle screw connection to the
connections of the adapter plate.
NOTE
• Observe the requirements for the compressed air supply,
Technical data [}16].
• 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.
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Assembly
Pneumatic connection
Item Description GAP 16 GAP 20 GAP 28 GAP 32
A * Open gripper M3 M5
B * Close gripper
a * Open gripper
Direct connection
For connection dimensions and
geometry, see catalogue
b * Close gripper
Direct connection
• 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.
22
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Assembly
5.3 Adjusts absorber, only variants with end position dampening
NOTE
Do not use absorber to limit the gripper stroke.
Set both absorbers to the same dimension.
Adjust absorber
Ø Unscrew cylinder screws (3).
Ø Loosen clamping piece (2), if necessary.
Ø Set both absorbers (1) to dimension X.
NOTE
Secure all cylinder screws using a suitable chemical screw lock.
Ø Screw cylinder screws (3) tight.
Tightening torque for attachment screws
Size GAP 16 GAP 20 GAP 28 GAP 32
Tightening torque [Nm] 0.6 0.8 1.5 3.0
Dimension X for absorber setting - maximum absorber stroke
GAP 16-...-S GAP 20-...-S
30 60 90 30 60 90
Dimension X
[mm]
-7.2 -4.6 -2.1 -10.6 -7.4 -3.9
30 60 90 30 60 90
Dimension X
-3.9 -0.3 3.6 -6.4 -2 2.8
[mm]
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GAP 28-...-S GAP 32-...-S
23
Page 24
Assembly
5.4 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 Overview of sensors [}25].
• 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.
5.4.1 Overview of sensors
Designation GAP
16 20 28 32
Magnetic switch MMS 22 X X X X
24
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5.4.2 Mounting MMS 22 magnetic switch
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 set-
screws.
Assembly
Gripper position opened or part gripped (I.D. gripping)
Ø Put product in the position in which it is to be set.
Ø Turn the sensor 1 (1) into the groove (2).
OR: Push the sensor 1 (1) into the groove (2) until sensor 1 (1)
stops at the housing (3).
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: 10Ncm
Ø Close the product and open it again in order to test its function.
Ø Repeat steps for sensor 2.
Gripper position closed or part gripped (O.D gripping)
Ø Put product in the position in which it is to be set.
Ø Turn the sensor 1 (1) into the groove (2).
OR: Slide sensor 1 (1) into the groove (2) in the direction of the
housing middle (3), until the sensor 1 (1) switches.
Ø Secure the sensor 1 (1) using the set-screw (4).
✓ Tightening torque: 10Ncm
Ø Close the product and open it again in order to test its function.
Ø Repeat steps for sensor 2.
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Troubleshooting
6 Troubleshooting
6.1 Product does not move
Possible cause Corrective action
Base jaws jam in housing, e.g. mounting
surface is not sufficiently even.
Pressure drops below minimum. Check air supply., Pneumatic connection [}21]
Compressed air lines switched. Check compressed air lines.
Proximity switch defective or set incorrect. Readjust or change sensor.
Component part defective. Replace component or send it to SCHUNK
Check the evenness of the mounting
surface., Mechanical connection [}19]
Loosen the mounting screws of the product
and actuate the product again.
for repair.
6.2 Product does not execute a complete stroke
Possible cause Corrective action
Variant GAP...-S
Damper turned in too far (piston does not
reach end position).
Dirt deposits in the mechanical elements. Clean and lubricate product., Maintenance [}28]
Dirt deposits between the housing and base
jaws.
Adjusting damping., Adjusts absorber, only
variants with end position dampening [}23]
Disassemble and clean the product.
Pressure drops below minimum. Check air supply., Pneumatic connection [}23]
Mounting surface is not sufficiently flat. Check the evenness of the mounting
surface., Mechanical connection [}19]
Component part defective. Send product with a SCHUNK repair order or
dismantle product.
6.3 Product opens or closes jerkily
Possible cause Corrective action
Too little grease in the mechanical guiding
areas.
Compressed air lines blocked. Check compressed air lines of damage.
Mounting surface is not sufficiently flat. Check the evenness of the mounting surface.
One-way flow control valve is missing or
adjustet incorrectly.
Clean and lubricate product.
Maintenance [}28]
Install and adjust one-way flow control
valve.
26
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Troubleshooting
6.4 Gripping force is dropping
Possible cause Corrective action
Compressed air can escape. Check seals, if necessary, disassemble the
product and replace seals.
Too much grease in the mechanical
Clean and lubricate product.
movement space.
Pressure drops below minimum. Check air supply.
Pneumatic connection [}21]
Component part defective. Replace component or send it to SCHUNK
for repair.
6.5 Product does not achieve the opening and closing times
Possible cause Corrective action
Compressed air lines are not installed
optimally.
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.
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.
NOTICE!The throttle check valve must not
be removed, even if the product has not
reached the opening and closing times.
If, despite optimum air connections, the
opening and closing times specified in the
catalogue are not achieved, SCHUNK
recommends the use of quick-air-ventvalves directly at the product.
Loading too large. Check permissible weight and length of the
gripper fingers.
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Maintenance
7 Maintenance
7.1 Notes
Original spare parts
Use only original spare parts of SCHUNK when replacing spare and
wear parts.
NOTE
Use suitable devices and aids for assembly of the springs (154)
(for variant AS) and (124).
7.2 Maintenance intervals
Interval [Mio. cycles]
for
GAP 16-32
2 Clean the product dry without a degreasing
2 Treat all grease areas with lubricant,
For extreme ambient and application conditions, shortened
maintenance cycles can ensure the lifespan is maintained.
Maintenance work
agent, check for damage and wear, if
necessary replace seals and wearing parts,
Disassembly and assembly [}30].
Lubricants/Lubrication points (basic
lubrication) [}29].
NOTICE
Material damage due to hardening lubricants!
Lubricants harden more quickly at temperatures above 60°C,
leading to possible product damage.
• Reduce the lubricant intervals accordingly.
28
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7.3 Lubricants/Lubrication points (basic lubrication)
SCHUNK recommends the lubricants listed.
Lubricant point Lubricant
Maintenance
Lever mechanism and
Renolit CA-LZ
connecting members
All seals * Isoflex-Topas NCA 52
Bore hole at the piston *
* only after disassembling the product
Greasing areas, lever mechanism and connecting members
If the product gets dirty, wipe it carefully with a soft cloth. Do not
use solvents.
During maintenance, treat all greased areas with lubricant. Thinly
apply lubricant with a lint-free cloth.
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Maintenance
7.4 Disassembly and assembly
7.4.1 Variant with maintenance of gripping force
Position of the item numbers, Assembly drawing [}32]
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.
• Make sure, that no residual energy remains in the system.
WARNING
Risk of injury due to spring forces!
For products with gripping force maintenance, parts are under
spring tension. During disassembly parts may move unexpectedly
and cause serious injuries
• Disassemble the product cautiously.
• Make sure that no residual energy remains in the system.
Ø Remove the compressed air line.
Ø Carefully clamp the product between the base body (51) and
the base body (21).
Ø Remove screws (57) and (157).
Ø Slowly unclamp springs.
Ø Remove housing.
Ø If applicable, disassemble the product further,
Assembly drawing [}32].
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.
30
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7.4.2 Variant without maintenance of gripping force
Position of the item numbers, Assembly drawing [}32]
Ø Remove the compressed air lines.
Ø Unfasten screws (46) and (143).
Ø Remove base body (41).
Ø If applicable, disassemble the product further,
Assembly drawing [}32].
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.
Maintenance
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Maintenance
7.5 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.
Assembly drawing
* Wearing part, replace during maintenance.
** Orientation of the magnets (43);(58): Orientation towards south Pole gripper
head
*** According to size
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Translation of original declaration of incorporation
8 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. 106 – 134
D-74348 Lauffen/Neckar
We hereby declare that on the date of the declaration the following partly completed
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: 2-finger angular/parallel gripper / GAP / pneumatic
ID number 0341600 ... 0314638
The partly completed machine may not be put into operation until conformity of the
machine into which the partly completed machine is to be installed with the provisions of
the Machinery Directive (2006/42/EC) is confirmed.
Applied harmonized standards, especially:
EN ISO 12100:2010 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 AnnexVII, 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 2019 p.p. Ralf Winkler,
Manager for development
of gripping system components
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Translation of original declaration of incorporation
8.1 Annex to Declaration of Incorporation
according 2006/42/EG, Annex II, No. 1 B
1.Description of the essential health and safety requirements pursuant to 2006/42/EC,
Annex I that are applicable and that have been fulfilled with:
Product designation 2-finger angular/parallel gripper
Type designation GAP
ID number 0341600 ... 0314638
To be provided by the System Integrator for the overall machine ⇓
Fulfilled for the scope of the partly completed machine ⇓
Not relevant ⇓
1.1 Essential Requirements
1.1.1 Definitions X
1.1.2 Principles of safety integration X
1.1.3 Materials and products X
1.1.4 Lighting X
1.1.5 Design of machinery to facilitate its handling X
1.1.6 Ergonomics X
1.1.7 Operating positions X
1.1.8 Seating X
1.2 Control Systems
1.2.1 Safety and reliability of control systems X
1.2.2 Control devices X
1.2.3 Starting X
1.2.4 Stopping X
1.2.4.1 Normal stop X
1.2.4.2 Operational stop X
1.2.4.3 Emergency stop X
1.2.4.4 Assembly of machinery X
1.2.5 Selection of control or operating modes X
1.2.6 Failure of the power supply X
1.3 Protection against mechanical hazards
1.3.1 Risk of loss of stability X
1.3.2 Risk of break-up during operation X
1.3.3 Risks due to falling or ejected objects X
1.3.4 Risks due to surfaces, edges or angles X
1.3.5 Risks related to combined machinery X
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Translation of original declaration of incorporation
1.3 Protection against mechanical hazards
1.3.6 Risks related to variations in operating conditions X
1.3.7 Risks related to moving parts X
1.3.8 Choice of protection against risks arising from moving parts X
1.3.8.1 Moving transmission parts X
1.3.8.2 Moving parts involved in the process X
1.3.9 Risks of uncontrolled movements X
1.4 Required characteristics of guards and protective devices
1.4.1 General requirements X
1.4.2 Special requirements for guards X
1.4.2.1 Fixed guards X
1.4.2.2 Interlocking movable guards X
1.4.2.3 Adjustable guards restricting access X
1.4.3 Special requirements for protective devices X
1.5 Risks due to other hazards
1.5.1 Electricity supply X
1.5.2 Static electricity X
1.5.3 Energy supply other than electricity X
1.5.4 Errors of fitting X
1.5.5 Extreme temperatures X
1.5.6 Fire X
1.5.7 Explosion X
1.5.8 Noise X
1.5.9 Vibrations X
1.5.10 Radiation X
1.5.11 External radiation X
1.5.12 Laser radiation X
1.5.13 Emissions of hazardous materials and substances X
1.5.14 Risk of being trapped in a machine X
1.5.15 Risk of slipping, tripping or falling X
1.5.16 Lightning X
1.6 Maintenance
1.6.1 Machinery maintenance X
1.6.2 Access to operating positions and servicing points X
1.6.3 Isolation of energy sources X
1.6.4 Operator intervention X
1.6.5 Cleaning of internal parts X
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Translation of original declaration of incorporation
1.7 Information
1.7.1 Information and warnings on the machinery X
1.7.1.1 Information and information devices X
1.7.1.2 Warning devices X
1.7.2 Warning of residual risks X
1.7.3 Marking of machinery X
1.7.4 Instructions X
1.7.4.1 General principles for the drafting of instructions X
1.7.4.2 Contents of the instructions X
1.7.4.3 Sales literature X
The classification from Annex 1 is to be supplemented from here
forward.
2 Supplementary essential health and safety requirements for certain
categories of machinery
2.1 Foodstuffs machinery and machinery for cosmetics or pharmaceutical
products
2.2 Portable hand-held and/or guided machinery X
2.2.1 Portable fixing and other impact machinery X
2.3 Machinery for working wood and material with similar physical
characteristics
3 Supplementary essential health and safety requirements to offset
X
hazards due to the mobility of machinery
4 Supplementary essential health and safety requirements to offset
X
hazards due to lifting operations
5 Supplementary essential health and safety requirements for machinery
intended for underground work
6 Supplementary essential health and safety requirements for machinery
X
presenting particular hazards due to the lifting of persons
X
X
X
X
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