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GM 201

SCHUNK GM Series, GM...K Series, GM 80, GM 81, GM...S Series Assembly And Operating Manual

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Page 1
Translation of Original operating manual
Assembly and Operating Manual
GM 80 – 201
2-finger parallel gripper
Page 2
Imprint
2
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: 389092
Version: 03.00|11/02/2019|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
info@de.schunk.com schunk.com
Page 3
Table of contents
3
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 Variants..................................................................................................... 6
1.2 Warranty .............................................................................................................. 6
1.3 Scope of delivery ..................................................................................................6
1.4 Accessories ........................................................................................................... 7
1.4.1 Seal kit ......................................................................................................7
1.4.2 Sensors .....................................................................................................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 ........................................................................................................... 9
2.5 Gripper fingers ..................................................................................................... 9
2.6 Environmental and operating conditions .............................................................9
2.7 Personnel qualification....................................................................................... 10
2.8 Personal protective equipment.......................................................................... 11
2.9 Notes on safe operation ..................................................................................... 11
2.10 Transport ............................................................................................................ 12
2.11 Malfunctions....................................................................................................... 12
2.12 Disposal .............................................................................................................. 12
2.13 Fundamental dangers......................................................................................... 13
2.13.1 Protection during handling and assembly ..............................................13
2.13.2 Protection during commissioning and operation ...................................14
2.13.3 Protection against dangerous movements.............................................14
2.13.4 Protection against electric shock............................................................15
2.14 Notes on particular risks..................................................................................... 15
2.14.1 Variant gripping force maintenance ......................................................17
3 Technical data.........................................................................................................18
4 Assembly ................................................................................................................19
4.1 Mechanical connection ...................................................................................... 19
4.2 Air connection .................................................................................................... 20
4.3 Stroke adjustment of the gripper jaws............................................................... 20
4.4 Maintenance of gripping force unit.................................................................... 21
4.5 End position monitoring ..................................................................................... 21
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Table of contents
4
5 Start-up ..................................................................................................................22
6 Troubleshooting .....................................................................................................23
6.1 Modul does not move?....................................................................................... 23
6.2 The module does not travel through the entire stroke? .................................... 23
6.3 Module opens or closes abruptly? .....................................................................23
6.4 Module opens / does it grip the workpiece hard? .............................................23
6.5 Gripping force is dropping .................................................................................. 24
6.6 Is the gripper not able to grip or hold on to the workpiece? .............................24
6.7 Module does not achieve the opening and closing times? ...............................24
6.8 End position signal not present? ........................................................................ 24
7 Maintenance ..........................................................................................................25
7.1 Maintenance and lubrication intervals............................................................... 25
7.2 Lubricants/Lubrication points (basic lubrication) ..............................................25
7.3 Disassembly of the module ............................................................................... 25
7.4 Servicing and assembling the module ................................................................26
8 Assembly drawing...................................................................................................27
9 Translation of original declaration of incorporation ................................................28
10 Annex to Declaration of Incorporation....................................................................29
Page 5
General
5
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
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.
Page 6
General
6
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 www.schunk.com.
1.1.3 Variants
This operating manual applies to the following variations:
• GM without gripping force maintenance
• GM with gripping force maintenance O.D. gripping (...-K)
• GM with gripping force maintenance I.D. gripping (...-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.
1.3 Scope of delivery
The scope of delivery includes
• 2-finger parallel gripper GM in the version ordered
Page 7
General
7
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.
1.4.1 Seal kit
Seal kits are available as standardized wearing parts sets. All the seals are included in their scope of delivery.
ID.-No. of the seal kit
Seal kit for Designation ID number
GM 80/81 GMDI 080 0313448 GM 100/101 GMDI 100 0313450 GM 200/201 GMDI 200 0313452
Contents of the sealing kit, Assembly drawing [}27].
1.4.2 Sensors
Overview of the compatible sensors
Designation Type
Inductive proximity switches NI Abfrageset GMNS...
• Exact type designation of the compatible sensors see catalog.
• Information on handling sensors is available at schunk.com or from SCHUNK contact persons.
Page 8
Basic safety notes
8
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 [}18].
• 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.
Page 9
Basic safety notes
9
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.
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.
• Observe maintenance and lubrication intervals, Maintenance
and lubrication intervals [}25].
• 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.
Page 10
Basic safety notes
10
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
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.
Qualified personnel
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 person
Instructed persons were instructed by the operator about the delegated tasks and possible dangers due to improper behaviour.
Service personnel of the manufacturer
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.
Page 11
Basic safety notes
11
2.8 Personal protective equipment
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.
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.
Page 12
Basic safety notes
12
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.
Page 13
Basic safety notes
13
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.
2.13.1 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.
Page 14
Basic safety notes
14
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.
• 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.
Page 15
Basic safety notes
15
2.13.4 Protection against electric shock
Possible electrostatic energy
Components or assembly groups may become electrostatically charged. When the electrostatic charge is touched, the discharge may trigger a shock reaction leading to injuries.
• The operator must ensure that all components and assembly groups are included in the local potential equalisation in accordance with the applicable regulations.
• While paying attention to the actual conditions of the working environment, the potential equalisation must be implemented by a specialist electrician according to the applicable regulations.
• The effectiveness of the potential equalisation must be verified by executing regular safety measurements.
2.14 Notes on particular risks
Generally valid:
• Remove the energy supplies before installation, modification, maintenance, or adjustment work.
• Make sure that no residual energy remains in the system.
• Do not move parts by hand when the energy supply is connected.
• Do not reach into the open mechanism or the movement area of the module.
• Perform maintenance, modifications, and additions outside of the danger zone.
• For all work, secure the unit against accidental operation.
• Take a precautionary approach by maintenance and disassembly.
• Only specially trained staff should disassemble the module.
CAUTION
Possible risk of injury due to electrostatic energy!
Components or assembly groups may become electrostatically charged. When touched, the electrostatic discharge can trigger a startle response, which can result in injuries.
• The operator must ensure that all components and assembly
groups are included in the local equipotential bonding in line with the applicable regulations.
Page 16
Basic safety notes
16
NOTE
• The equipotential bonding must be installed by a specialist electrician in line with the applicable regulations, paying particular attention to the actual conditions in the working environment.
• The effectiveness of the equipotential bonding must be verified by a specialist electrician through regular safety measurements.
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 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 from unexpected movements!
If the energy supply is switched on or residual energy remains in the system, parts may move unexpectedly and cause serious injuries.
• Switch off the energy supply.
• Make sure no residual energy is in the system.
Page 17
Basic safety notes
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2.14.1 Variant gripping force maintenance
WARNING
Risk of injury from objects falling during energy supply failure
Products with a mechanical gripping force maintenance can, during energy supply failure, still move independently in the direction specified by the mechanical gripping force maintenance.
• Secure the end positions of the product with SCHUNK SDV-P
pressure maintenance valves.
WARNING
Risk of injury due to uncontrolled movements!
While disassembling uncontrolled movements of the gripper's in­dividual parts of grippers with gripping force maintenance may cause serious injuries.
• Switch off the energy supply.
• Ensure there is no residual energy in the system.
• Disassemble the gripper carefully.
WARNING
Modules with a mechanical gripping force maintenance can, during energy supply failure, still move independently in the direction specified by the mechanical gripping force maintenance.
Page 18
Technical data
18
3 Technical data
Module type GM ... GM ... K / S
Ambient temperature [°C] 5 - 60 IP rating 40 Noise emission [dB(A)] ≤ 70 Pressure medium Compressed air, compressed air quality according to
ISO 8573-1:7 4 4 Min. pressure [bar] 3 4.5 Max. pressure [bar] 8 Nominal working pressure [bar] 6
Size 80/81 100/101 200/201
Max. permissible finger length [mm]
40 70 100
Max. permitted weight per finger [kg]
0.07 0.2 0.55
More technical data is included in the catalog data sheet. Whichever is the latest version.
Page 19
Assembly
19
4 Assembly
4.1 Mechanical connection
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 < 0.05
The connection geometries are above, below and at the side of the gripping module.
Dimensions for the position and size of the connection geometries, Catalog data sheet of the product .
Mounting
Ø Mount the module using the fixing bores provided. Ø Mount the modules using the fixing bores provided. Ø Attach the top jaws using the mounting bores provided.
NOTICE
Material damage due to improper assembly!
• 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 screws using a suitable chemical screw lock.
Page 20
Assembly
20
4.2 Air connection
NOTICE
Damage to the gripper is possible!
If the maximum permissible finger weight or the permissible mass moment of inertia of the fingers is exceeded, the gripper can be damaged.
• A jaw movement always has to be without jerks and bounce.
• You must therefore implement sufficient reduction and/or
damping.
• Observe the diagrams and information in the catalog data
sheet.
NOTICE
Pressure medium:
The unit must not under any circumstances be operated with oiled air before operation with unoiled air (washing out of factory lubrication).
4.3 Stroke adjustment of the gripper jaws
For stroke adjustment of the gripper jaws, the parts listed below are included in the scope of delivery of every gripping module.
• Stroke adjustment screw (28)
• Counter nut (29)
Stroke adjustment of the gripper jaws
Ø Release counter nut (29). Ø By turning the stroke adjustment screw (28), the stroke of the
curve slide (7), and therefore the gripper jaw stroke can be set from 0 up to maximum stroke.
The stroke setting can be made in both the clamping and the spreading direction.
Page 21
Assembly
21
4.4 Maintenance of gripping force unit
WARNING
Risk of injury due to spring forces!
To secure the gripping force in case of a drop in pressure, a spring (18) Stroke adjustment of the gripper jaws [}20] can be integrated without any additional parts. Depending on which side the spring is installed, the gripping force maintenance device acts in the dir­ection of clamping or spreading.
When ordering a gripping module including a gripping force main­tenance device as described in the catalog, the spring will have already been installed by SCHUNK.
4.5 End position monitoring
To monitor the end positions, standardized monitoring sets for direct installation are available.
The installation of the monitoring set is possible on both sides of the module, whereby both end positions can be monitored.
The switch bolt that is integrated in the gripper jaws is directly monitored.
Proximity switch ­monitoring set: GMNS-...
Scope of delivery of the monitoring set:
• 1 x retaining plate
• 1 x Inductive proximity switch
• 1 x connection cable
Position of the proximity switches
1 Proximity switch (GMNS-... installation on both sides)
Setting the monitoring
Ø Undo the attachment screw. Ø Set the sensor via the retainer plate. Ø Fix the sensor via the attachment screw.
Page 22
Start-up
22
5 Start-up
• Check technical specifications Technical data [}18].
• Check the permissible loading specifications (☞ catalog).
• Do not use the module until trouble-free operation has been checked taking all permissible operating parameters into account.
• The movement speed is ideally regulated via throttle check valves Air connection [}20]. The speed is always set so that it starts at a low speed, and increases to a higher speed until the desired operating speed is reached
NOTICE
Risk of mechanical damage!
The module should always be adjusted appropiately to prevent mechanical shocks during operation.
Page 23
Troubleshooting
23
6 Troubleshooting
6.1 Modul does not move?
Possible cause Corrective action
Base jaws jam in housing, e.g. mounting surface is not sufficiently even.
Check the evenness of the mounting surface.
Mechanical connection [}19].
Loosen the mounting screws of the product
and actuate the product again. Pressure drops below minimum. Check air supply. Air connection [}20] 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
for repair.
6.2 The module does not travel through the entire stroke?
Possible cause Corrective action
Dirt deposits in the mechanical elements. Clean and lubricate product.. Maintenance
[}25] Pressure drops below minimum. Check air supply., Air connection [}20] 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 Module opens or closes abruptly?
Possible cause Corrective action
Too little grease in the mechanical guiding areas.
Clean and lubricate product. Maintenance
[}25] Compressed air lines blocked. Check compressed air lines of damage. Mounting surface is not sufficiently flat. Check the evenness of the mounting surface.
Mechanical connection [}19]
Pressure drops below minimum. Check air supply. Air connection [}20]
6.4 Module opens / does it grip the workpiece hard?
Possible cause Corrective action
Exhaust throttle defective. Replacing the exhaust air throttle. Stroke speed too high. Setting the exhaust air throttle.
Page 24
Troubleshooting
24
6.5 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
movement space.
Clean and lubricate product.
Maintenance [}25]
Pressure drops below minimum. Check air supply.
Link Pneumatischer Anschluss Component part defective. Replace component or send it to SCHUNK
for repair.
6.6 Is the gripper not able to grip or hold on to the workpiece?
Possible cause Corrective action
The workpiece weighs too much Use a larger gripping module The gripper jaws are too long Place the gripping point further inside Non-optimal engineering design Adapt the engineering design – form-fit
gripping
6.7 Module does not achieve the opening and closing times?
Possible cause Corrective action
Compressed air lines are not installed optimally.
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.
6.8 End position signal not present?
Possible cause Corrective action
Precisely adjust the sensor for the stop Readjust the sensor Proximity switch defective or set incorrect. Replace sensor Cable breakage Replacing the sensor cable
Page 25
Maintenance
25
7 Maintenance
7.1 Maintenance and lubrication intervals
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.
Interval [Mio. cycles] 2
7.2 Lubricants/Lubrication points (basic lubrication)
SCHUNK recommends the lubricants listed. During maintenance, treat all greased areas with lubricant. Thinly
apply lubricant with a lint-free cloth.
Lubricant point Lubricant
Lever mechanism, connecting member, other mechanical slid­ing points
Isoflex Topas NCA 52
(Fa.Klüber) All seals * Bore hole at the piston *
* Only after disassembling the module for repairs
7.3 Disassembly of the module
NOTICE
A high degree of expertise is required for the disassembly and assembly of the module, Personnel qualification [}10].
The repair or elimination of defects by the customer on the module results in the termination of the warranty and liability for all resulting warranty and subsequent damage.
It is recommended to have damaged or defective modules re­paired at the production facility. Consult a SCHUNK contact per­son for this purpose.
Page 26
Maintenance
26
WARNING
Risk of injury due to spring forces! The side cover plates are under spring tension.
Carefully clamp the module between the cover plates and release the screw connection. Slowly unclamp the springs and remove the cover plates.
Disassemble the module as shown in the "Assembly drawing", As-
sembly drawing [}27].
7.4 Servicing and assembling the module
WARNING
Risk of injury due to spring forces!
Use suitable devices and aids for assembly of the springs for version AS.
NOTICE
Material damage due to improper assembly!
• 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 screws using a suitable chemical screw lock.
Maintenance
• Clean all parts thoroughly and check for damage and wear.
• Clean and re-lubricate the accessible mechanism of the gripping module at the prescribed intervals.
Lubricants/Lubrication points (basic lubrication) [}25]
• Oil or grease bare external steel parts.
• Disassemble the gripping module only for repairs Disassembly
of the module [}25]
Assembly
Assembly takes place in the opposite order to disassembly. Observe the following:
•
Unless otherwise specified, secure all screws and nuts with Loctite no. 243 and tighten with the appropriate tightening torque.
• Select suitable tightening torque values for screws when assembling the module in accordance with the generally accepted guidelines for screw connections.
Page 27
Assembly drawing
27
8 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.
All other wearing parts and individual components are available individually according to the following sectional drawings.
Order numbers are composed as in the following example:
• Part no. 1 GM 100-01
Sectional drawing of the GM series
Page 28
Translation of original declaration of incorporation
28
9 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 parallel gripper / GM 80 – 201 / pneumatic ID number 0313060, 0313061, 0313062, 0313063, 0313064, 0313065,
0313096, 0313070, 0313071, 0313072, 0313073, 0313074, 0313078, 0313079, 0313080, 0313081, 0313082, 0313083
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 AnnexVII, Part B, belonging to the partly completed machinery, has been created.
Person authorized to compile the technical documentation: Robert Leuthner, Address: see manufacturer's address
Lauffen/Neckar, February 2019 p.p. Ralf Winkler, Manager for development of
gripping system components
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Annex to Declaration of Incorporation
29
10 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 parallel gripper Type designation GM ID number 0313060, 0313061, 0313062, 0313063, 0313064, 0313065, 0313096,
0313070, 0313071, 0313072, 0313073, 0313074, 0313078, 0313079, 0313080, 0313081, 0313082, 0313083
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
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Annex to Declaration of Incorporation
30
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
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
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Annex to Declaration of Incorporation
31
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
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
X
2.1 Foodstuffs machinery and machinery for cosmetics or pharmaceutical products
X
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
X
3 Supplementary essential health and safety requirements to offset
hazards due to the mobility of machinery
X
4 Supplementary essential health and safety requirements to offset
hazards due to lifting operations
X
5 Supplementary essential health and safety requirements for machinery
intended for underground work
X
6 Supplementary essential health and safety requirements for machinery
presenting particular hazards due to the lifting of persons
X
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